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Article

Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors

by
Longyu Zhang
1,2,
Hao Xia
1,*,
Qingjun Liu
3,
Chunyang Wei
1,2,
Dong Fu
1,2 and
Yanyou Qiao
1
1
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China
2
College of Resources and Environment, University of Chinese Academy of Sciences, Beijing 100049, China
3
Qihoo 360 Technology Co. Ltd., Chaoyang District, Beijing 100016, China
*
Author to whom correspondence should be addressed.
ISPRS Int. J. Geo-Inf. 2021, 10(4), 195; https://doi.org/10.3390/ijgi10040195
Submission received: 31 December 2020 / Revised: 7 March 2021 / Accepted: 22 March 2021 / Published: 24 March 2021
(This article belongs to the Special Issue Indoor Positioning and Mapping Based on 3D GIS)
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Abstract

Positioning information has become one of the most important information for processing and displaying on smart mobile devices. In this paper, we propose a visual positioning method using RGB-D image on smart mobile devices. Firstly, the pose of each image in the training set is calculated through feature extraction and description, image registration, and pose map optimization. Then, in the image retrieval stage, the training set and the query set are clustered to generate the vector of local aggregated descriptors (VLAD) description vector. In order to overcome the problem that the description vector loses the image color information and improve the retrieval accuracy under different lighting conditions, the opponent color information and depth information are added to the description vector for retrieval. Finally, using the point cloud corresponding to the retrieval result image and its pose, the pose of the retrieved image is calculated by perspective-n-point (PnP) method. The results of indoor scene positioning under different illumination conditions show that the proposed method not only improves the positioning accuracy compared with the original VLAD and ORB-SLAM2, but also has high computational efficiency.
Keywords: visual positioning; RGB-D Images; 3D model; image retrieval; pose estimation visual positioning; RGB-D Images; 3D model; image retrieval; pose estimation

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MDPI and ACS Style

Zhang, L.; Xia, H.; Liu, Q.; Wei, C.; Fu, D.; Qiao, Y. Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors. ISPRS Int. J. Geo-Inf. 2021, 10, 195. https://doi.org/10.3390/ijgi10040195

AMA Style

Zhang L, Xia H, Liu Q, Wei C, Fu D, Qiao Y. Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors. ISPRS International Journal of Geo-Information. 2021; 10(4):195. https://doi.org/10.3390/ijgi10040195

Chicago/Turabian Style

Zhang, Longyu, Hao Xia, Qingjun Liu, Chunyang Wei, Dong Fu, and Yanyou Qiao. 2021. "Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors" ISPRS International Journal of Geo-Information 10, no. 4: 195. https://doi.org/10.3390/ijgi10040195

APA Style

Zhang, L., Xia, H., Liu, Q., Wei, C., Fu, D., & Qiao, Y. (2021). Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors. ISPRS International Journal of Geo-Information, 10(4), 195. https://doi.org/10.3390/ijgi10040195

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