Efficient Localisation Using Images and OpenStreetMaps
Mengjie Zhou,Xieyuanli Chen,Noe Samano,Cyrill Stachniss,Andrew Calway,Mengjie Zhou,Xieyuanli Chen,Noe Samano,Cyrill Stachniss,Andrew Calway
The ability to localise is key for robot navigation. We describe an efficient method for vision-based localisation, which combines sequential Monte Carlo tracking with matching ground-level images to 2-D cartographic maps such as OpenStreetMaps. The matching is based on a learned embedded space representation linking images and map tiles, encoding the common semantic information present in both an...
