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The complete camera pose (location + orientation) of the Google street view (GSV) images is provided by Google. Hence, one can utilize this information to localize a query camera based on the projective geometry. The existing literature works either perform image retrieval-based rough location recognition or require high-computational power/specific features for three-dimensional fine localization...
This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric structure to build a coarse-to-fine positioning, namely a topological place recognition process and then a metric pose estimation by local bundle adjustment. Our method...
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