  This paper presents a localization technique using aerial imagery maps and
LIDAR based ground reflectivity for autonomous vehicles in urban environments.
Traditional localization techniques using LIDAR reflectivity rely on high
definition reflectivity maps generated from a mapping vehicle. The cost and
effort required to maintain such prior maps are generally very high because it
requires a fleet of expensive mapping vehicles. In this work we propose a
localization technique where the vehicle localizes using aerial/satellite
imagery, eradicating the need to develop and maintain complex high-definition
maps. The proposed technique has been tested on a real world dataset collected
from a test track in Ann Arbor, Michigan. This research concludes that aerial
imagery based maps provides real-time localization performance similar to
state-of-the-art LIDAR based maps for autonomous vehicles in urban environments
at reduced costs.
