Monocular camera localization in 3D LiDAR maps

@article{Caselitz2016MonocularCL,
  title={Monocular camera localization in 3D LiDAR maps},
  author={Tim Caselitz and Bastian Steder and Michael Ruhnke and Wolfram Burgard},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={1926-1931}
}
Localizing a camera in a given map is essential for vision-based navigation. In contrast to common methods for visual localization that use maps acquired with cameras, we propose a novel approach, which tracks the pose of monocular camera with respect to a given 3D LiDAR map. We employ a visual odometry system based on local bundle adjustment to reconstruct a sparse set of 3D points from image features. These points are continuously matched against the map to track the camera pose in an online… CONTINUE READING
Highly Cited
This paper has 17 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 14 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 25 references

Similar Papers

Loading similar papers…