BSP-MonoLoc: Basic Semantic Primitives based Monocular Localization on Roads
Heping Li,Changliang Xue,Feng Wen,Hongbo Zhang,Wei Gao,Heping Li,Changliang Xue,Feng Wen,Hongbo Zhang,Wei Gao
Robust visual localization in traffic scenes is a fundamental problem for self-driving vehicles. However, it is still challenging to achieve accurate localization performance because of drastic viewpoint and illumination changes. To address the issues, we design a novel monocular localization framework based on a light-weight prior map, called BSP-MonoLoc, which leverages the 2D semantic primitive...
