Accurate visual localization in outdoor and indoor environments exploiting 3D image spaces as spatial reference
Author (Corporation)
Publication date
2018
Typ of student thesis
Course of study
Collections
Type
04B - Conference paper
Editors
Editor (Corporation)
Supervisor
Parent work
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Special issue
DOI of the original publication
Link
Series
Series number
Volume
XLII-1
Issue / Number
Pages / Duration
Patent number
Publisher / Publishing institution
International Society of Photogrammetry and Remote Sensing
Place of publication / Event location
Karlsruhe
Edition
Version
Programming language
Assignee
Practice partner / Client
Abstract
In this paper, we present a method for visual localization and pose estimation based on 3D image spaces. The method works in indoor and outdoor environments and does not require the presence of control points or markers. The method is evaluated with different sensors in an outdoor and an indoor test field. The results of our research show the viability of single image localization with absolute position accuracies at the decimetre level for outdoor environments and 5 cm or better for indoor environments. However, the evaluation also revealed a number of limitations of single image visual localization in real-world environments. Some of them could be addressed by an alternative AR-based localization approach, which we also present and compare in this paper. We then discuss the strengths and weaknesses of the two approaches and show possibilities for combining them to obtain accurate and robust visual localization in an absolute coordinate frame.
Keywords
Image-based localization, Visual localization, ARCore, Image orientation, Pose estimation, 3D Image spaces
Subject (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
Event
Mid-term Symposium “Innovative Sensing – From Sensors to Methods and Applications”
Exhibition start date
Exhibition end date
Conference start date
10.10.2018
Conference end date
12.10.2018
Date of the last check
ISBN
ISSN
2194-9034
Language
English
Created during FHNW affiliation
Yes
Strategic action fields FHNW
Publication status
Published
Review
Peer review of the complete publication
Open access category
Gold
License
Citation
RETTENMUND, Daniel, Markus FEHR, Stefan CAVEGN und Stephan NEBIKER, 2018. Accurate visual localization in outdoor and indoor environments exploiting 3D image spaces as spatial reference. In: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Karlsruhe: International Society of Photogrammetry and Remote Sensing. 2018. Verfügbar unter: https://doi.org/10.26041/fhnw-9555