SemLoc: Accurate and Robust Visual Localization with Semantic and Structural Constraints from Prior Maps
Shiwen Liang,Yunzhou Zhang,Rui Tian,Delong Zhu,Linghao Yang,Zhenzhong Cao,Shiwen Liang,Yunzhou Zhang,Rui Tian,Delong Zhu,Linghao Yang,Zhenzhong Cao
Semantic information and geometrical structures of a prior map can be leveraged in visual localization to bound drift errors and improve accuracy. In this paper, we propose SemLoc, a pure visual localization system, for accurate localization in a prior semantic map. To tightly couple semantic and structure information from prior maps, a hybrid constraint is presented by using the Dirichlet distrib...
