20210711 deepI2P

This document summarizes a paper titled "DeepI2P: Image-to-Point Cloud Registration via Deep Classification". The paper proposes a method for estimating the camera pose within a point cloud map using a deep learning model. The model first classifies whether points in the point cloud fall within the camera's frustum or image grid. It then performs pose optimization to estimate the camera pose by minimizing the projection error of inlier points onto the image. The method achieves more accurate camera pose estimation compared to existing techniques based on feature matching or depth estimation. It provides a new approach for camera localization using point cloud maps without requiring cross-modal feature learning.