Coarse-to-fine Semantic Localization with HD Map for Autonomous Driving in Structural Scenes
Chengcheng Guo,Minjie Lin,Heyang Guo,Pengpeng Liang,Erkang Cheng,Chengcheng Guo,Minjie Lin,Heyang Guo,Pengpeng Liang,Erkang Cheng
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods suffer from pose estimation failure due to error prone data association or initialization with accurate initial pose requirement. In this paper, we propose a c...
