Image Based Localization in Indoor （基于图像的定位在室内）.pdfVIP

Image Based Localization in Indoor Environments Jason Zhi Liang Nicholas Corso Eric Turner Avideh Zakhor EECS Department EECS Department EECS Department EECS Department UC Berkeley UC Berkeley UC Berkeley UC Berkeley Berkeley, California Berkeley, California Berkeley, California Berkeley, California jasonzliang@ ncorso@ elturner@ avz@ Abstract—Image based localization is an important problem with many applications. In our previous work, we presented a two step pipeline for performing image based localization of mobile devices in outdoor environments. In the first step, a query image is matched against a georeferenced 3D image database to retrieve the “closest” image. In the second step, the pose of the query image is recovered with respect to the “closest” image using cell phone sensors. As such, a key ingredient of our outdoor image based localization is a 3D georeferenced image database. In this paper, we extend this approach to indoors by utilizing a 3D locally referenced image database generated by an ambulatory depth acquisition backpack that is originally developed for 3D modeling of indoor environments. We demonstrate retrieval rate of 94% over a set of 83 query images taken in an indoor shopping center and characterize pose recovery accuracy of the same set. Keywords—image retrieval, indoor localization, 3D reconstruc- tion. I. INTRODUCTION Indoor localization is an important problem with many use- ful applications such as geotagging and augmented reality. The most bas