Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: What is the Best Grid-Map for Self-Driving Cars Localization? An
  Evaluation under Diverse Types of Illumination, Traffic, and Environment   The localization of self-driving cars is needed for several tasks such as
keeping maps updated, tracking objects, and planning. Localization algorithms
often take advantage of maps for estimating the car pose. Since maintaining and
using several maps is computationally expensive, it is important to analyze
which type of map is more adequate for each application. In this work, we
provide data for such analysis by comparing the accuracy of a particle filter
localization when using occupancy, reflectivity, color, or semantic grid maps.
To the best of our knowledge, such evaluation is missing in the literature. For
building semantic and colour grid maps, point clouds from a Light Detection and
Ranging (LiDAR) sensor are fused with images captured by a front-facing camera.
Semantic information is extracted from images with a deep neural network.
Experiments are performed in varied environments, under diverse conditions of
illumination and traffic. Results show that occupancy grid maps lead to more
accurate localization, followed by reflectivity grid maps. In most scenarios,
the localization with semantic grid maps kept the position tracking without
catastrophic losses, but with errors from 2 to 3 times bigger than the
previous. Colour grid maps led to inaccurate and unstable localization even
using a robust metric, the entropy correlation coefficient, for comparing
online data and the map.

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The categories of this paper are: nucl-th
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The categories of this paper are: econ
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The categories of this paper are: funct-an
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The categories of this paper are: plasm-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: math-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: q-alg
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The categories of this paper are: mtrl-th
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The categories of this paper are: supr-con
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The categories of this paper are: quant-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: stat
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The categories of this paper are: chao-dyn
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The categories of this paper are: atom-ph
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The categories of this paper are: cond-mat