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Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range came...

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Detalles Bibliográficos
Autores principales: Kohoutek, Tobias K., Mautz, Rainer, Wegner, Jan D.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2013
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3649378/
https://www.ncbi.nlm.nih.gov/pubmed/23435055
http://dx.doi.org/10.3390/s130202430
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author Kohoutek, Tobias K.
Mautz, Rainer
Wegner, Jan D.
author_facet Kohoutek, Tobias K.
Mautz, Rainer
Wegner, Jan D.
author_sort Kohoutek, Tobias K.
collection PubMed
description We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance).
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spelling pubmed-36493782013-06-04 Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments Kohoutek, Tobias K. Mautz, Rainer Wegner, Jan D. Sensors (Basel) Article We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance). Molecular Diversity Preservation International (MDPI) 2013-02-14 /pmc/articles/PMC3649378/ /pubmed/23435055 http://dx.doi.org/10.3390/s130202430 Text en © 2013 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Kohoutek, Tobias K.
Mautz, Rainer
Wegner, Jan D.
Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title_full Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title_fullStr Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title_full_unstemmed Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title_short Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
title_sort fusion of building information and range imaging for autonomous location estimation in indoor environments
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3649378/
https://www.ncbi.nlm.nih.gov/pubmed/23435055
http://dx.doi.org/10.3390/s130202430
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