Monocular camera localization in 3D LiDAR maps

  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)},
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
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