2022
SemLoc: Accurate and Robust Visual Localization with Semantic and Structural Constraints from Prior Maps
ICRA 2022poster
Semantic information and geometrical structures of a prior map can be leveraged in visual localization to bound drift errors and improve accuracy. In this paper, we propose SemLoc, a pure visual localization system, for accurate localization in a prior semantic map. To tightly couple semantic and st…