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For the purpose of Self-Localization by 3D-maps and camera images, we have worked on the realignment task that has bigger error than conventional DNN that matches between 3D-maps and camera images. To resolve this task, we payed attention the registration characteristics of CalibNet that realign them focusing on the axis of height of the vehicle. We devised the error given to training data for CalibNet, and we can train the network that can registration focusing on the side and depth axes ofdoi:10.7210/jrsj.39.471 fatcat:kehlqgamevh3hlcp333ls3tyb4