LiDAR intensity textures, projected with HEC and matched by pretrained visual features, achieve cross-modal relocalization in prior LiDAR maps with high recall on two self-collected campus datasets.
I2d-loc: Camera localization via image to lidar depth flow,
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Cross-Modal Visual Relocalization in Prior LiDAR Maps Utilizing Intensity Textures
LiDAR intensity textures, projected with HEC and matched by pretrained visual features, achieve cross-modal relocalization in prior LiDAR maps with high recall on two self-collected campus datasets.