Open-source project to support real-time hierarchical-localization for robots

[gogojjh]

We have released a work (published in ICRA2024) that extends the HLoc framework by integrating cross-modality data fusion to refine map quality and enhance real-time localization. Leveraging LiDAR-enhanced visual priors and monocular camera inputs, it achieves superior accuracy for long-term operations, adapting to dynamic environments. Every one is welcomed to try our open-source repo: https://github.com/David-Willo/APMP and check technical details: https://arxiv.org/abs/2407.09091