Monocular Localization in HD Maps by Combining Semantic Segmentation and Distance Transform
Jan-Hendrik Pauls,Kürsat Petek,Fabian Poggenhans,Christoph Stiller,Jan-Hendrik Pauls,Kürsat Petek,Fabian Poggenhans,Christoph Stiller
Easy, yet robust long-term localization is still an open topic in research. Existing approaches require either dense maps, expensive sensors, specialized map features or proprietary detectors.We propose using semantic segmentation on a monocular camera to localize directly in a HD map as used for automated driving. This combines lightweight, yet powerful HD maps with the simplicity of monocular vi...
