Using Eagleye with a pre-built LiDAR map (PCD) for localization without onboard LiDAR

[adityac-ymsli]

We are evaluating Eagleye for a low-speed autonomous vehicle project where localization must rely only on GNSS + IMU (+ wheel speed) due to production cost constraints.

Our workflow includes:

• Creating a LiDAR-based map (PCD) once using a mapping vehicle
• Deploying the same map to all vehicles
• No LiDAR sensor on production vehicles

From our understanding and testing:

• Eagleye provides globally referenced pose estimation (WGS84 / ENU)
• Eagleye does not support localization against a LiDAR map
• Without onboard LiDAR, the PCD map cannot be used for pose correction or localization

This creates a limitation where:

• The LiDAR map can only be used for planning / visualization
• Localization accuracy depends entirely on GNSS + IMU
• There is no clear documented method to:
  • Geo-reference a LiDAR PCD map using Eagleye output
  • Align the PCD map and Eagleye pose in a common map frame

Final question:
Is it possible to use Eagleye’s global coordinates (WGS84 / ENU) to reference or align a local LiDAR PCD map, and if so, what is the recommended method or workflow to do this correctly?

Any clarification on this limitation or guidance on the correct integration approach would be greatly appreciated.