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Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
Institute of Geodesy and Photogrammetry, ETH Zurich, Wolfgang-Pauli-Str. 15, 8093 Zurich, Switzerland
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Received: 15 October 2012; in revised form: 4 February 2013 / Accepted: 4 February 2013 / Published: 14 February 2013
Abstract: We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera’s pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance).
Keywords: indoor positioning; ToF cameras; range imaging; CityGML; point cloud library
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MDPI and ACS Style
Kohoutek, T.K.; Mautz, R.; Wegner, J.D. Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments. Sensors 2013, 13, 2430-2446.
Kohoutek TK, Mautz R, Wegner JD. Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments. Sensors. 2013; 13(2):2430-2446.
Kohoutek, Tobias K.; Mautz, Rainer; Wegner, Jan D. 2013. "Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments." Sensors 13, no. 2: 2430-2446.