LiDAR融合済み事前地図を用いた高精度単眼測位
Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion
LiDARで強化した視覚的事前地図上で深層学習による視覚特徴を追跡し、単眼カメラのみでセンチメートル級のグローバル測位を実現した。
著者: Jinhao He, Huaiyang Huang, Shuyang Zhang, Jianhao Jiao, Chengju Liu, Ming Liu
分類: cs.RO
原文アブストラクト
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.
