JVLDLoc: a Joint Optimization of Visual-LiDAR Constraints and Direction Priors for Localization in Driving Scenario. (arXiv:2208.09777v2 [cs.CV] UPDATED)

The ability for a moving agent to localize itself in environment is the basic
demand for emerging applications, such as autonomous driving, etc. Many
existing methods based on multiple sensors still suffer from drift. We propose
a scheme that fuses map prior and vanishing points from images, which can
establish an energy term that is only constrained on rotation, called the
direction projection error. Then we embed these direction priors into a
visual-LiDAR SLAM system that integrates camera and LiDAR …

arxiv constraints cv driving lidar localization optimization