LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map
Xinrui Wu,Jianbo Xu,Puyuan Hu,Guangming Wang,Hesheng Wang,Xinrui Wu,Jianbo Xu,Puyuan Hu,Guangming Wang,Hesheng Wang
Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline ter...
