Monocular Urban Localization using Street View

17 May 2016Li YuCyril JolyGuillaume BressonFabien Moutarde

This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric structure to build a coarse-to-fine positioning, namely a topological place recognition process and then a metric pose estimation by local bundle adjustment... (read more)

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