Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
Huai Yu,Weikun Zhen,Wen Yang,Ji Zhang,Sebastian Scherer,Huai Yu,Weikun Zhen,Wen Yang,Ji Zhang,Sebastian Scherer
Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts and pose jumps upon loop closure. To overcome these problems, we propose an efficient monocular camera localization method in prior LiDAR maps using direct 2D-3D ...
