Cross-Modal Monocular Localization in Prior LiDAR Maps Utilizing Semantic Consistency
Chi Zhang,Hengwang Zhao,Chunxiang Wang,Xuanlai Tang,Ming Yang,Chi Zhang,Hengwang Zhao,Chunxiang Wang,Xuanlai Tang,Ming Yang
Visual localization for mobile robots and intelligent vehicles in prior LiDAR maps can achieve high accuracy and low cost. However, algorithms for finding the cross-modal correspondences between images and LiDAR map points are not yet stable. In this paper, we propose a monocular visual localization system in prior LiDAR maps, which is based on the cross-modal registration to optimize the camera p...
