Long-Term Localization for Self-Driving Cars

Abstract: Long-term localization is hard due to changing conditions, while relative localization within time sequences is much easier. To achieve long-term localization in a sequential setting, such as, for self-driving cars, relative localization should be used to the fullest extent, whenever possible. This thesis presents solutions and insights both for long-term sequential visual localization, and localization using global navigational satellite systems (GNSS), that push us closer to the goal of accurate and reliable localization for self-driving cars. It addresses the question: How to achieve accurate and robust, yet cost-effective long-term localization for self-driving cars? Starting in this question, the thesis explores how existing sensor suites for advanced driver-assistance systems (ADAS) can be used most efficiently, and how landmarks in maps can be recognized and used for localization even after severe changes in appearance. The findings show that: ' State-of-the-art ADAS sensors are insufficient to meet the requirements for localization of a self-driving car in less than ideal conditions. GNSS and visual localization are identified as areas to improve.  ' Highly accurate relative localization with no convergence delay is possible by using time relative GNSS observations with a single band receiver, and no base stations.  ' Sequential semantic localization is identified as a promising focus point for further research based on a benchmark study comparing state-of-the-art visual localization methods in challenging autonomous driving scenarios including day-to-night and seasonal changes.  ' A novel sequential semantic localization algorithm improves accuracy while significantly reducing map size compared to traditional methods based on matching of local image features.  ' Improvements for semantic segmentation in challenging conditions can be made efficiently by automatically generating pixel correspondences between images from a multitude of conditions and enforcing a consistency constraint during training.  ' A segmentation algorithm with automatically defined and more fine-grained classes improves localization performance.  ' The performance advantage seen in single image localization for modern local image features, when compared to traditional ones, is all but erased when considering sequential data with odometry, thus, encouraging to focus future research more on sequential localization, rather than pure single image localization.