LiDAR-Aided Visual-Inertial Localization with Semantic Maps
Hao Li,Liangliang Pan,Ji Zhao,Hao Li,Liangliang Pan,Ji Zhao
Accurate and robust localization is an essential task for autonomous driving systems. In this paper, we propose a novel 3D LiDAR-aided visual-inertial localization method. Our method fully explores the complementarity of visual and LiDAR observations. On the one hand, the association between semantic features in images and a given semantic map provides constraints for the absolute pose. On the oth...
