Vehicle localization based on radar detection in garage

This document describes techniques and systems for vehicle positioning based on radar detection in garage and other GNSS rejection environments. In some examples, a system includes a processor and a computer readable storage medium that includes instructions that, when executed, cause the system to obtain structural data regarding a GNSS rejection environment and generate a radar location landmark from the structural data. Radar localization landmarks include edges or corners of a GNSS rejection environment. The instructions also cause the processor to generate a fold line along or between radar-located landmarks to generate a radar occupancy grid. The instructions further cause the processor to receive radar detection from the one or more radar sensors and obtain a vehicle pose within the radar occupancy grid to locate the vehicle within the GNSS rejection environment. In this manner, the system may provide highly accurate vehicle positioning in a GNSS rejection environment in a cost-effective manner. 本文档描述了