Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation
Kürsat Petek,Kshitij Sirohi,Daniel Büscher,Wolfram Burgard,Kürsat Petek,Kshitij Sirohi,Daniel Büscher,Wolfram Burgard
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular localization approach based on a sliding-window pose graph that leverages predicted uncertainties for increased precision and robustness against challenging scenario...
