I2D-LocX: An Efficient, Precise and Robust Method for Camera Localization in LiDAR Maps

Abstract

Camera localization within LiDAR maps has gained significant attention due to its potential for accurate positioning with low-cost and lightweight sensors compared to LiDAR-based systems. However, existing methods often prioritize localization accuracy, sometimes compromising efficiency, which can limit their suitability for real-time applications. To address these issues, we propose I2D-LocX, a lightweight monocular camera localization framework with three branches, establishing pixel-level and feature-level constraints to enhance localization performance without increasing model complexity. Specifically, the main branch generates a flow map to represent pixel-point displacements. One auxiliary branch shares the same input as the main branch and employs an additional decoder to evaluate the confidence of the flow map. The other auxiliary branch leverages a zero-flow generated from the displacement-free input to guide feature matching, thereby enhancing localization robustness. Notably, both auxiliary branches share parameters with the main branch and are omitted during inference, ensuring computational efficiency. Extensive experiments on benchmark datasets, including KITTI-Odometry, Argoverse, Waymo, and nuScenes, show that I2D-LocX can achieve centimeter-level localization accuracy with about 37 ms inference time, greatly improving the localization performance for real-world applications.