โA general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.โ
โkapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.โ
โ[IROS 2024] Representing 3D sparse map points and lines for camera relocalization; [IROS 2025] Improved 3D Point-Line Mapping Regression for Camera Relocalizationโ
