mlsanityData to 7 Oct 2026

CMRNet: Camera to LiDAR-Map Registration

arXiv 1906.10109 ↗First posted 24 Jun 2019cs.CV cs.LG cs.ROcited by 25

Not on the map. Why?

Abstract (arXiv)

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.

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Jun 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 3; 2022: 2; 2023: 8; 2024: 7; 2025: 3; 2026: 2.

25 papers.

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  1. 2023Differentiable Registration of Images and LiDAR Point Clouds with VoxelPoint-to-Pixel Matchingcited by 35
  2. 2023LIP-Loc: LiDAR Image Pretraining for Cross-Modal Localizationcited by 26
  3. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  4. 2023(LC)2: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognitioncited by 16
  5. 2024CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibrationcited by 15
  6. 2021Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimationcited by 11
  7. 2023End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localizationcited by 9
  8. 2024VOLoc: Visual Place Recognition by Querying Compressed Lidar Mapcited by 7
  9. 2023RaLF: Flow-based Global and Metric Radar Localization in LiDAR Mapscited by 5
  10. 2024VXP: Voxel-Cross-Pixel Large-scale Image-LiDAR Place Recognitioncited by 4
  11. 2024EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalizationcited by 3
  12. 2024CMR-Agent: Learning a Cross-Modal Agent for Iterative Image-to-Point Cloud Registrationcited by 3
13 more
  1. 2021Revisiting LiDAR Registration and Reconstruction: A Range Image Perspectivecited by 2
  2. 2023Poses as Queries: Image-to-LiDAR Map Localization with Transformerscited by 2
  3. 2024SOLVR: Submap Oriented LiDAR-Visual Re-Localisationcited by 2
  4. 2025What Really Matters for Learning-based LiDAR-Camera Calibrationcited by 2
  5. 2021Semantic Image Alignment for Vehicle Localizationcited by 1
  6. 2022A Survey on Visual Map Localization Using LiDARs and Camerascited by 1
  7. 2022Uncertainty-Aware DNN for Multi-Modal Camera Localizationcited by 1
  8. 2023RobustCalib: Robust Lidar-Camera Extrinsic Calibration with Consistency Learningcited by 1
  9. 2024An experimental evaluation of Siamese Neural Networks for robot localization using omnidirectional imaging in indoor environmentscited by 0
  10. 2025Self-localization on a 3D map by fusing global and local features from a monocular cameracited by 0
  11. 2025CRISTAL: Real-time Camera Registration in Static LiDAR Scans using Neural Renderingcited by 0
  12. 2026Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinementcited by 0
  13. 2026Ex-Sim(3)-Reg: 2D-3D Correspondence Pruning via Extended Sim(3) Registrationcited by 0