Metric localization using Google Street View

@article{Agarwal2015MetricLU,
  title={Metric localization using Google Street View},
  author={Pratik Agarwal and Wolfram Burgard and Luciano Spinello},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={3111-3118}
}
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geo-tagged panoramas from the Google Street View as a source of global positioning. We model the problem of localization as a non-linear least squares estimation in two phases. The first estimates the 3D position of tracked feature points from short monocular camera sequences… CONTINUE READING
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