VioLA: Aligning Videos to 2D LiDAR Scans
Jun-Jee Chao,Selim Engin,Nikhil Chavan-Dafle,Bhoram Lee,Volkan Isler,Jun-Jee Chao,Selim Engin,Nikhil Chavan-Dafle,Bhoram Lee,Volkan Isler
We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the image sequence, then extracts points at a fixed height for registering to the LiDAR map. Due to reconstruction errors or partial coverage of the camera scan, the re...
