Automotive self-localization is an essential task for any automated driving
function. This means that the vehicle has to reliably know its position and
orientation with an accuracy of a few centimeters and degrees, respectively.
This paper presents a radar-based approach to self-localization, which exploits
fully polarimetric scattering information for robust landmark detection. The
proposed method requires no input from sensors other than radar during
localization for a given map. By association of landmark observations with map
landmarks, the vehicle's position is inferred. Abstract point- and line-shaped
landmarks allow for compact map sizes and, in combination with the factor graph
formulation used, for an efficient implementation. Evaluation of extensive
real-world experiments in diverse environments shows a promising overall
localization performance of
0.12m RMS absolute trajectory and $0.43
{}^\circ$ RMS heading error by leveraging the polarimetric information. A
comparison of the performance of different levels of polarimetric information
proves the advantage in challenging scenarios.