Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization

arXiv:2609.26423 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-10-04

Comments: 8 pages, 6 figures, paper under review

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Accuracy — 21× in this paper · explained in 1 episode
Alignment — 14× in this paper · explained in 1 episode
Transformer — 10× in this paper · explained in 2 episodes
Ablation — 5× in this paper · explained in 1 episode
Robustness — 4× in this paper · explained in 5 episodes
Direct Radar Odometry — 3× in this paper
Modality Gap — 3× in this paper · explained in 4 episodes
Generalization — 2× in this paper · explained in 13 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Alignment Problem — 1× in this paper · explained in 1 episode
Angular Error — 1× in this paper · explained in 1 episode
Core — 1× in this paper · explained in 2 episodes
Direct Radar Localization — 1× in this paper
Domain Shift — 1× in this paper · explained in 4 episodes
Embeddings — 1× in this paper · explained in 2 episodes
Feature Extraction — 1× in this paper · explained in 2 episodes
Fidelity — 1× in this paper · explained in 2 episodes
Generalizability — 1× in this paper · explained in 6 episodes
Generative Model — 1× in this paper · explained in 2 episodes
Global Navigation Satellite Systems — 1× in this paper
Graceful Degradation — 1× in this paper · explained in 2 episodes
Iterative Closest Point — 1× in this paper
Point Clouds — 1× in this paper · explained in 2 episodes
Regularization — 1× in this paper · explained in 3 episodes
alpha — 1× in this paper · explained in 1 episode

Sources

3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope

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