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RadGeoLoc: A Particle Filtering-Based Radar Geolocalization Method

RadGeoLoc proposes a geolocalization method that aligns ground-based spinning radar measurements with satellite RGB imagery for autonomous localization when GNSS is unreliable. The method uses a radar representation pretrained via masked reconstruction, aligns it with satellite image features, proposes candidate poses through a particle filter driven by radar odometry, and derives likelihoods from a learned observation model. Evaluation covers 8 datasets and 31 distinct routes spanning urban and offroad conditions, and examines robustness under changing weather through repeated traversals of the same route over 13 months, using only ground radar and a coarse local prior.

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