Lane-level self-localization is essential for autonomous driving. Point cloud maps are typically used for self-localization but are known to be redundant. Deep features produced by neural networks can be used as a map, but their simple utilization could lead to corruption in large environments. This paper proposes a practical map format using deep features. We propose voxelized deep feature maps for self-localization, consisting of deep features defined in small regions. The self-localization algorithm proposed in this paper considers per-voxel residual and reassignment of scan points in each optimization iteration, which could result in accurate results. Our experiments compared point cloud maps, feature maps, and the proposed map from the self-localization accuracy and efficiency perspective. As a result, more accurate and lane-level self-localization was achieved with the proposed voxelized deep feature map, even with a smaller storage requirement compared with the other map formats.
Keywords: autonomous driving; deep learning; self-localization.