# Monocular Urban Localization using Street View

arXiv: https://arxiv.org/abs/1605.05157 · HTML: https://mlsanity.com/paper/1605.05157/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 May 2016.

## Built on by (most cited first, 1 of 1)

- [Context Aware Object Geotagging](https://mlsanity.com/paper/2108.06302/) (2021)

## Abstract (arXiv)

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 is tested on a 3 km urban environment and demonstrates both sub-meter accuracy and robustness to viewpoint changes, illumination and occlusion. To our knowledge, this is the first work that studies the global urban localization simply with a single camera and Street View.