Offline Covariance Prediction for Lidar-Based Map-Matching in Autonomous Systems

Hadi S. Wassaf, Jonathon Poage, and Jason H. Rife

Abstract:	This paper introduces a concept for map-based characterization of lidar positioning errors. A map-based model can account for spatial variations in lidar positioning performance, including variations in the types of terrain the lidar visualizes and matches to a high-definition map (HD map). Our approach for map-based error characterization relies on a two-step positioning algorithm. The two-step algorithm includes a coarse positioning step using scan context descriptors, as well as a refined step using normal-distribution transform (NDT) scan matching. This two-step approach is practical in that it reduces sensitivity to the initial guess needed for refined scan matching. Initial-condition sensitivity can otherwise cause problems with scan-matching convergence and introduce biases in statistical error characterization. After describing our map-based error characterization approach, we apply the method to a representative highway dataset. Our analysis shows that the map-based error characterization approach provides a reasonable characterization of errors in a test data set. We also provide evidence that lidar-positioning error distributions exhibit heavier-than Gaussian tails.
Published in:	Proceedings of the 2025 International Technical Meeting of The Institute of Navigation January 27 - 30, 2025 Hyatt Regency Long Beach Long Beach, California
Pages:	268 - 289
Cite this article:	Wassaf, Hadi S., Poage, Jonathon, Rife, Jason H., "Offline Covariance Prediction for Lidar-Based Map-Matching in Autonomous Systems," Proceedings of the 2025 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2025, pp. 268-289. https://doi.org/10.33012/2025.19994
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