  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.
