# Dr-LiSA：用于 SE(3) 定位的直接雷达-激光雷达扫描对齐

> 原文链接：https://robotics.hellobike.com/papers/2026-09-22-2609-26423
> 频道：papers | 更新日期：2026-09-22 | 标签：arxiv, cs.RO
> 核心摘要：Dr-LiSA用学习前向模型从激光雷达子图预测雷达观测，实现2D旋转雷达在3D激光雷达地图中的SE(3)定位，并在道路数据上验证。

# Dr-LiSA：用于 SE(3) 定位的直接雷达-激光雷达扫描对齐

::: v-pre
> 原文链接：[Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization](https://arxiv.org/abs/2609.26423)（arXiv 2609.26423 · 发布日期：2026-09-22）

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

Dr-LiSA用学习前向模型从激光雷达子图预测雷达观测，实现2D旋转雷达在3D激光雷达地图中的SE(3)定位，并在道路数据上验证。

## 核心要点

- 现有雷达-激光雷达定位多限于平面SE(2)，且精度通常不及激光雷达-激光雷达和雷达-雷达系统。
- 方法通过学习前向模型，在候选位姿下由激光雷达子图预测雷达测量，以弥合两类传感器的模态差异。
- Dr-LiSA将预测雷达扫描与观测雷达扫描进行直接光度对齐，从而支持SE(3)中的定位。
- 在超过90 km道路数据上，Dr-LiSA在SE(2)中优于既有雷达-激光雷达方法，平面精度可与先进雷达-雷达定位竞争。

**验证范围与局限**：验证范围为超过90 km的道路数据。

## 英文摘要 (Abstract)

This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in $SE(3)$ against 3D lidar maps. Radar-lidar localization combines the complementary strengths of the two sensing modalities: radar is robust to adverse weather and precipitation, while lidar provides high-fidelity 3D maps in favourable conditions. However, existing radar-lidar localization methods are restricted to planar $SE(2)$ localization and have generally fallen short of the accuracy achieved by lidar-lidar and even radar-radar systems. A key challenge is the substantial sensing-modality gap between radar and lidar, which observe and represent scene structure in fundamentally different ways. Dr-LiSA bridges this gap using a learned forward model that predicts radar measurements from a lidar submap at a candidate pose, enabling direct photometric alignment of predicted and observed radar scans in $SE(3)$. Dr-LiSA outperforms prior radar-lidar approaches in $SE(2)$ while achieving planar accuracy competitive with state-of-the-art radar-radar localization across more than 90 km of on-road data.

作者：Alex Zhang, Daniil Lisus, Cedric Le Gentil, Timothy D. Barfoot
:::

## 原始参考来源 (Sources)

- [arXiv 2609.26423：Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization](https://arxiv.org/abs/2609.26423)