Accurate visual localization in outdoor and indoor environments exploiting 3D image spaces as spatial reference
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Autor:innen
Autor:in (Körperschaft)
Publikationsdatum
2018
Typ der Arbeit
Studiengang
Sammlung
Typ
04B - Beitrag Konferenzschrift
Herausgeber:innen
Herausgeber:in (Körperschaft)
Betreuer:in
Übergeordnetes Werk
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Themenheft
DOI der Originalpublikation
Link
Reihe / Serie
Reihennummer
Jahrgang / Band
XLII-1
Ausgabe / Nummer
Seiten / Dauer
Patentnummer
Verlag / Herausgebende Institution
International Society for Photogrammetry and Remote Sensing
Verlagsort / Veranstaltungsort
Karlsruhe
Auflage
Version
Programmiersprache
Abtretungsempfänger:in
Praxispartner:in/Auftraggeber:in
Zusammenfassung
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.
Schlagwörter
Image-based localization, Visual localization, ARCore, Image orientation, Pose estimation, 3D Image spaces
Fachgebiet (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
Veranstaltung
Mid-term Symposium “Innovative Sensing – From Sensors to Methods and Applications”
Startdatum der Ausstellung
Enddatum der Ausstellung
Startdatum der Konferenz
10.10.2018
Enddatum der Konferenz
12.10.2018
Datum der letzten Prüfung
ISBN
ISSN
2194-9034
Sprache
Englisch
Während FHNW Zugehörigkeit erstellt
Ja
Publikationsstatus
Veröffentlicht
Begutachtung
Peer-Review der ganzen Publikation
Open Access-Status
Gold
Lizenz
Zitation
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 for Photogrammetry and Remote Sensing. 2018. Verfügbar unter: https://doi.org/10.26041/fhnw-9555