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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map (ICRA 2024)

Xinrui Wu, Jianbo Xu, Puyuan Hu, Guangming Wang, Hesheng Wang

pipeline Our paper is available at:

Requirements

The dependencies installation and data prepration please refer to CMRNet

LHMap construction

python main_single_mapping.py with batch_size=8 data_folder=./KITTI_ODOMETRY/sequences/ epochs=120 max_r=10 max_t=2 BASE_LEARNING_RATE=0.0001 savemodel=./checkpoints/ test_sequence=00

LHMap saving

Change folder path to save LiDAR point cloud in "./models/CMRNet/CMRNet_single_save.py"

python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=00
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=03
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=05
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=06
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=07
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=08
python main_single_save.py with batch_size=1 data_folder=./KITTI_ODOMETRY/sequences/  weights='./checkpoints/xxx.tar' test_sequence=09

LHMap localization

Change folder path of LiDAR point cloud in "Dataset_kitti_localization.py"

python main_single_loc.py with batch_size=12 data_folder=./KITTI_ODOMETRY/sequences/ epochs=150 max_r=10 max_t=2 BASE_LEARNING_RATE=0.0001 savemodel=./checkpoints/ test_sequence=00

Evaluation

python evaluate.py with test_sequence=00 maps_folder=local_maps data_folder=./KITTI_ODOMETRY/sequences/  weight="['./checkpoints/iter1.tar','./checkpoints/iter2.tar','./checkpoints/iter3.tar']"

Results

The iteration results in KITTI:

Median
Transl. error

Median
Rotation. error
Iteration 1 0.21 m 0.94°
Iteration 2 0.06 m 0.35°
Iteration 3 0.03 m 0.33°

Citation

If you use LHMap-loc, please cite:

@misc{wu2024lhmaploc,
      title={LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map}, 
      author={Xinrui Wu and Jianbo Xu and Puyuan Hu and Guangming Wang and Hesheng Wang},
      year={2024},
      eprint={2403.05002},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}