Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments

RGB-D sensors capture RGB images and depth images simultaneously, which makes it possible to acquire the depth information at pixel level. This paper focuses on the use of RGB-D sensors to construct a visual map which is an extended dense 3D map containing essential elements for image-based localiza...

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Bibliographic Details
Published in:Journal of sensors 2017-01, Vol.2017 (2017), p.1-18
Main Authors: Feng, Guanyuan, Tan, Xuezhi, Ma, Lin
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Automation
Cameras
Color imagery
Computer simulation
Global positioning systems
GPS
Image acquisition
Image retrieval
Indoor environments
International conferences
Local optimization
Localization
Localization method
Mapping
Measuring instruments
Methods
Navigation systems
Position errors
Robotics
Sensors
Smartphones
Wireless access points
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Summary:RGB-D sensors capture RGB images and depth images simultaneously, which makes it possible to acquire the depth information at pixel level. This paper focuses on the use of RGB-D sensors to construct a visual map which is an extended dense 3D map containing essential elements for image-based localization, such as poses of the database camera, visual features, and 3D structures of the building. Taking advantage of matched visual features and corresponding depth values, a novel local optimization algorithm is proposed to achieve point cloud registration and database camera pose estimation. Next, graph-based optimization is used to obtain the global consistency of the map. On the basis of the visual map, the image-based localization method is investigated, making use of the epipolar constraint. The performance of the visual map construction and the image-based localization are evaluated on typical indoor scenes. The simulation results show that the average position errors of the database camera and the query camera can be limited to within 0.2 meters and 0.9 meters, respectively.
ISSN:1687-725X
1687-7268
DOI:10.1155/2017/8037607