CMRNet: Camera to LiDAR-Map Registration

@article{Cattaneo2019CMRNetCT,
  title={CMRNet: Camera to LiDAR-Map Registration},
  author={D. Cattaneo and Matteo Vaghi and Augusto Luis Ballardini and S. Fontana and D. Sorrenti and W. Burgard},
  journal={2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
  year={2019},
  pages={1283-1289}
}
In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network (CNN) to localize an RGB image of a scene in a map built from LiDAR data. [...] Key Result To the best of our knowledge this is the first CNN-based approach that learns to match images from a monocular camera to a given, preexisting 3D LiDAR-map.Expand
Global visual localization in LiDAR-maps through shared 2D-3D embedding space
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Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization
Hybrid Localization using Model- and Learning-Based Methods: Fusion of Monte Carlo and E2E Localizations via Importance Sampling
CMRNet++: Map and Camera Agnostic Monocular Visual Localization in LiDAR Maps
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences

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