Before revision:  In this paper, we propose a deep neural network for end-to-end learning of radar localization on lidar map to bridge the gap  .
After revision:  In this paper, we propose a deep neural network for end-to-end learning of radar localization on lidar map to bridge the gap , which not only achieves the robust radar localization but also exploits the mature lidar mapping technique, thus reducing the cost of radar mapping .