Increasing SLAM Pose Accuracy by Ground-to-Satellite Image Registration
Yanhao Zhang,Yujiao Shi,Shan Wang,Ankit Vora,Akhil Perincherry,Yongbo Chen,Hongdong Li,Yanhao Zhang,Yujiao Shi,Shan Wang,Ankit Vora,Akhil Perincherry,Yongbo Chen,Hongdong Li
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to error accumulation, visual SLAM (vSLAM) usually suffers from long-term drift. This paper proposes a framework to increase the localization accuracy by fusing the v...
