Next Article in Journal
Progress in the Development of CdZnTe Unipolar Detectors for Different Anode Geometries and Data Corrections
Previous Article in Journal
Light-Intensity-Induced Characterization of Elastic Constants and d33 Piezoelectric Coefficient of PLZT Single Fiber Based Transducers
Sensors 2013, 13(2), 2430-2446; doi:10.3390/s130202430
Article

Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

* ,
 and
Institute of Geodesy and Photogrammetry, ETH Zurich, Wolfgang-Pauli-Str. 15, 8093 Zurich, Switzerland
* Author to whom correspondence should be addressed.
Received: 15 October 2012 / Revised: 4 February 2013 / Accepted: 4 February 2013 / Published: 14 February 2013
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1241 KB, uploaded 21 June 2014]   |   Browse Figures

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 indoor positioning; ToF cameras; range imaging; CityGML; point cloud library
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
SciFeed

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
RIS
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.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert