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On autonomous driving: Why holistic and feature matching must be used in localization?

This paper highlights the importance of incorporating holistic and feature based localization systems in autonomous driving. The intensity based localization system is represented by calculating the matching score between LIDAR and map images whereas the feature based system is integrated by extracting the lateral edges with respect to the vehicle heading angle. An edge matching technique is then applied to estimate the lateral position based on the common features between the map and LIDAR images. The experimental results have verified that the estimation of the lateral and longitudinal poses has become more robust by combining the image and edge matching results against the changes of weather and environmental conditions.