Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion
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arXiv
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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916320492126208 |
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| author | He, Jinhao Huang, Huaiyang Zhang, Shuyang Jiao, Jianhao Liu, Chengju Liu, Ming |
| author_facet | He, Jinhao Huang, Huaiyang Zhang, Shuyang Jiao, Jianhao Liu, Chengju Liu, Ming |
| contents | Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs and infrastructure demands, poses challenges for widespread adoption in mass-market applications. In this paper, we aim to use only a monocular camera to achieve comparable onboard localization performance by tracking deep-learning visual features on a LiDAR-enhanced visual prior map. Experiments show that the proposed algorithm can provide centimeter-level global positioning results with scale, which is effortlessly integrated and favorable for low-cost robot system deployment in real-world applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_09091 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion He, Jinhao Huang, Huaiyang Zhang, Shuyang Jiao, Jianhao Liu, Chengju Liu, Ming Robotics Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs and infrastructure demands, poses challenges for widespread adoption in mass-market applications. In this paper, we aim to use only a monocular camera to achieve comparable onboard localization performance by tracking deep-learning visual features on a LiDAR-enhanced visual prior map. Experiments show that the proposed algorithm can provide centimeter-level global positioning results with scale, which is effortlessly integrated and favorable for low-cost robot system deployment in real-world applications. |
| title | Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.09091 |