LiDAR as a Geometric Prior: Enhancing Camera Pose Tracking Through High-Fidelity View Synthesis

LiDAR as a Geometric Prior: Enhancing Camera Pose Tracking Through High-Fidelity View Synthesis

This paper presents a robust framework for monocular camera pose estimation by leveraging high-fidelity, pre-built 3D LiDAR maps. The core of our approach is a render-and-match pipeline that synthesizes photorealistic views from a dense LiDAR point cloud. By detecting and matching keypoints between...

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Bibliographic Details
Main Authors: Rafael Muñoz-Salinas, Jianheng Liu, Francisco J. Romero-Ramirez, Manuel J. Marín-Jiménez, Fu Zhang
Format: Article
Language:English
Published: MDPI AG 2025-08-01
Series:Applied Sciences
Subjects:
camera pose estimation
LiDAR mapping
3D reconstruction
visual SLAM
Online Access:https://www.mdpi.com/2076-3417/15/15/8743
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