نسخة أولية وصول مفتوح
From LiDAR Maps to Visual Localization: Unified Visual Association for Robust Point-Line-Plane Pose Estimation
Camera localization in a prior LiDAR map provides a persistent geometric reference for long-term robotic navigation, yet remains challenging because of the substantial modality gap between camera images and point-cloud maps. We present a unified localization framework that makes the LiDAR map visually addressable rathe …