Drift-Aware Monocular Localization Based on a Pre-Constructed Dense 3D Map in Indoor Environments

ISPRS International Journal of Geo-Information

Danyang Qin¹  Guanyuan Feng²  Xuezhi Tan²  Lin Ma² 

[1] Electronic Engineering College, Heilongjiang University, Harbin 150080, China;School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin 150080, China;

关键词: monocular localization;    pre-constructed dense 3D map;    absolute scale estimation;    drift detection;   

DOI  :  10.3390/ijgi7080299

来源: DOAJ

【 摘 要 】

Recently, monocular localization has attracted increased attention due to its application to indoor navigation and augmented reality. In this paper, a drift-aware monocular localization system that performs global and local localization is presented based on a pre-constructed dense three-dimensional (3D) map. In global localization, a pixel-distance weighted least squares algorithm is investigated for calculating the absolute scale for the epipolar constraint. To reduce the accumulative errors that are caused by the relative position estimation, a map interaction-based drift detection method is introduced in local localization, and the drift distance is computed by the proposed line model-based maximum likelihood estimation sample consensus (MLESAC) algorithm. The line model contains a fitted line segment and some visual feature points, which are used to seek inliers of the estimated feature points for drift detection. Taking advantage of the drift detection method, the monocular localization system switches between the global and local localization modes, which effectively keeps the position errors within an expected range. The performance of the proposed monocular localization system is evaluated on typical indoor scenes, and experimental results show that compared with the existing localization methods, the accuracy improvement rates of the absolute position estimation and the relative position estimation are at least 30.09% and 65.59%, respectively.

【 授权许可】

Unknown