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Towards Slam-Based Outdoor Localization Using Poor Gps And 2.5d Building Models

2019 IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY (ISMAR), pp.1-7, (2019)

Cited by: 18|Views117
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Abstract

In this paper, we address the topic of outdoor localization and tracking using monocular camera setups with poor UPS priors. We leverage 2.5D building maps, which are freely available from open-source databases such as OpenStreetMap.The main contributions of our work are a fast initialization method and a non-linear optimization scheme. T...More

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