SF-Loc: A Visual Mapping and Geo-Localization System based on Sparse Visual Structure Frames
SF-Loc is vision-centered mapping and localization system, based on the map representation of visual structure frames. We use multi-sensor dense bundle adjustment (MS-DBA) to generate the visual structure frames and sparsify them through co-visibility checking, leading to lightweight map storage. On this basis, multi-frame information is utilized to achieve high-recall, accurate user-end map-based localization.
- Mapping Pipeline (deadline: 2024/12)
- Localization Pipeline (deadline: 2025/01)
- Multi-sensor Example (deadline: 2025/01)