DT-Loc: Monocular Visual Localization on HD Vector Map Using Distance Transforms of 2D Semantic Detections
Chi Zhang,Hao Liu,Hao Li,Kun Guo,Kuiyuan Yang,Rui Cai,Zhiwei Li,Chi Zhang,Hao Liu,Hao Li,Kun Guo,Kuiyuan Yang,Rui Cai,Zhiwei Li
Localizing a vehicle on a prebuilt HD vector map is a prerequisite for many autonomous driving applications. Existing visual localization approaches usually require a separate local feature layer to function. The separate localization layer suffers from the robustness issue inherited from the local features. Also, it could be difficult to create a feature layer that aligns perfectly with an existi...
