LiM-Loc: Visual Localization with Dense and Accurate 3D Reference Maps Directly Corresponding 2D Keypoints to 3D LiDAR Point Clouds

Masahiko Tsuji, Hitoshi Niigaki, Ryuichi Tanida

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with…