LiDAR localization is an essential technology for
autonomous robots. By positioning, the robot can determine its
location and drive toward a mission point. This paper presents
a novel localization method to overcome the limitations of lidar
sensor data in harsh environments that interfere with lidar
sensing, such as an environment in which haze is scattered or
surrounded by glass structures. Unlike the existing method that
uses the geometrical features of lidar sensor data, in this paper,
we propose a feature that is characteristically expressed even in
the harsh environment above by utilizing the reflective feature
of lidar, and localization method using this feature is also
proposed.1