Abstract
In this paper, we address the topic of outdoor localization and tracking using monocular camera setups with poor GPS priors. We leverage 2.5 D building maps, which are freely available from open-source databases such as OpenStreetMap.
The main contributions of our work are a fast initialization method and a non-linear optimization scheme. The initialization upgrades a visual SLAM reconstruction with an absolute scale. The non-linear optimization uses the 2.5 D building model footprint, which further improves the tracking accuracy and the scale estimation. A pose optimization step relates the vision-based camera pose estimation from SLAM to the position information received through GPS, in order to fix the common problem of drift. We evaluate our approach on a set of challenging scenarios. The experimental results show that our approach achieves improved accuracy and robustness with an advantage in run-time over previous setups.
The main contributions of our work are a fast initialization method and a non-linear optimization scheme. The initialization upgrades a visual SLAM reconstruction with an absolute scale. The non-linear optimization uses the 2.5 D building model footprint, which further improves the tracking accuracy and the scale estimation. A pose optimization step relates the vision-based camera pose estimation from SLAM to the position information received through GPS, in order to fix the common problem of drift. We evaluate our approach on a set of challenging scenarios. The experimental results show that our approach achieves improved accuracy and robustness with an advantage in run-time over previous setups.
Original language | English |
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Title of host publication | 2019 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) |
Publisher | Institute of Electrical and Electronics Engineers |
Number of pages | 7 |
ISBN (Electronic) | 978-1-7281-0987-9 |
DOIs | |
Publication status | Published - 2019 |
Event | 2019 IEEE International Symposium on Mixed and Augmented Reality: ISMAR 2019 - Bejing, China Duration: 14 Oct 2019 → 18 Oct 2019 |
Conference
Conference | 2019 IEEE International Symposium on Mixed and Augmented Reality |
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Abbreviated title | ISMAR 2019 |
Country/Territory | China |
City | Bejing |
Period | 14/10/19 → 18/10/19 |