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arXiv · 2407.09091

Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion

Jinhao He·Huaiyang Huang·Shuyang Zhang·Jianhao Jiao·Chengju Liu·Ming Liu
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Abstract

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.

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Jinhao He, Huaiyang Huang, Shuyang Zhang, Jianhao Jiao, Chengju Liu, Ming Liu. 2024-07-12. Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion. https://arxiv.org/abs/2407.09091

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