MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments
Lukas Schaupp,Patrick Pfreundschuh,Mathias Bürki,Cesar Cadena,Roland Siegwart,Juan Nieto,Lukas Schaupp,Patrick Pfreundschuh,Mathias Bürki,Cesar Cadena,Roland Siegwart,Juan Nieto
Visually poor scenarios are one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present MOZARD, a multi-modal localization system for urban outdoor environments using vision and LiDAR. By fusing key point based visual multi-session information with semantic data, an improved localization recall can be achieved across vastly diffe...
