{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/cmrnet-camera-to-lidar-map-registration","title":"CMRNet: Camera to LiDAR-Map Registration","arxiv_id":"1906.10109","date":"2019-06-24","proceeding":null,"authors":["Daniele Cattaneo","Matteo Vaghi","Augusto Luis Ballardini","Simone Fontana","Domenico Giorgio Sorrenti","Wolfram Burgard"],"abstract":"In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the map. Instead it learns to match an image to the map. We validate our approach on the KITTI dataset, processing each frame independently without any tracking procedure. CMRNet achieves 0.27m and 1.07deg median localization accuracy on the sequence 00 of the odometry dataset, starting from a rough pose estimate displaced up to 3.5m and 17deg. To the best of our knowledge this is the first CNN-based approach that learns to match images from a monocular camera to a given, preexisting 3D LiDAR-map.","url_abs":"https://arxiv.org/abs/1906.10109v3","url_pdf":"https://arxiv.org/pdf/1906.10109v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"cmrnet-camera-to-lidar-map-registration","repo_url":"https://github.com/cattaneod/CMRNet","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"cmrnet-camera-to-lidar-map-registration","repo_url":"https://github.com/2023-MindSpore-4/Code8/tree/main/cmr","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"mindspore","reach":null}],"tasks":[{"task_slug":"camera-localization","task_name":"Camera Localization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}