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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Molecular Diversity Preservation International (MDPI)
2013
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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). |
format | Online Article Text |
id | pubmed-3649378 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2013 |
publisher | Molecular Diversity Preservation International (MDPI) |
record_format | MEDLINE/PubMed |
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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