Volume XLII-2/W13
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W13, 827-833, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W13-827-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W13, 827-833, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W13-827-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.

  05 Jun 2019

05 Jun 2019

VISION-BASED INDOOR LOCALIZATION VIA A VISUAL SLAM APPROACH

M. Li1,2 and F. Rottensteiner2 M. Li and F. Rottensteiner
  • 1College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, China
  • 2Institute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, Germany

Keywords: Indoor localization, Image retrieval, Geometric constraint, Bag-of-visual-word, SLAM

Abstract. With an increasing interest in indoor location based services, vision-based indoor localization techniques have attracted many attentions from both academia and industry. Inspired by the development of simultaneous localization and mapping technique (SLAM), we present a visual SLAM-based approach to achieve a 6 degrees of freedom (DoF) pose in indoor environment. Firstly, the indoor scene is explored by a keyframe-based global mapping technique, which generates a database from a sequence of images covering the entire scene. After the exploration, a feature vocabulary tree is trained for accelerating feature matching in the image retrieval phase, and the spatial structures obtained from the keyframes are stored. Instead of querying by a single image, a short sequence of images in the query site are used to extract both features and their relative poses, which is a local visual SLAM procedure. The relative poses of query images provide a pose graph-based geometric constraint which is used to assess the validity of image retrieval results. The final positioning result is obtained by selecting the pose of the first correct corresponding image.