Vehicle localization based on radar detections in garages

This document describes techniques and systems for vehicle localization based on radar detections in garages and other GNSS denial environments. In some examples, a system includes a processor and computer-readable storage media comprising instructions that, when executed, cause the system to obtain structure data regarding a GNSS denial environment and generate, from the structure data, radar localization landmarks. The radar localization landmarks include edges or corners of the GNSS denial environment. The instructions also cause the processor to generate polylines along or between the radar localization landmarks to generate a radar occupancy grid. The instructions further cause the processor to receive radar detections from one or more radar sensors and obtain a vehicle pose within the radar occupancy grid to localize the vehicle within the GNSS denial environment. In this way, the system can provide highly accurate vehicle localization in GNSS denial environments in a cost-effective manner.