dc.identifier.uri |
http://dx.doi.org/10.15488/10185 |
|
dc.identifier.uri |
https://www.repo.uni-hannover.de/handle/123456789/10257 |
|
dc.contributor.author |
Li, M.
|
|
dc.contributor.author |
Rottensteiner, F.
|
|
dc.contributor.editor |
Vosselman, G.
|
|
dc.contributor.editor |
Oude Elberink, S.J.
|
|
dc.contributor.editor |
Yang, M.Y.
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dc.date.accessioned |
2020-11-03T09:48:35Z |
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dc.date.available |
2020-11-03T09:48:35Z |
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dc.date.issued |
2019 |
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dc.identifier.citation |
Li, M.; Rottensteiner, F.: Vision-based indoor localization via a visual slam approach. In: Vosselman, G; Oude Elberink, S.J.; Yang, M.Y. (Eds.): ISPRS Geospatial Week 2019. Göttingen : Copernicus, 2019 (The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; 42-2/W13), S. 827-833. DOI: https://doi.org/10.5194/isprs-archives-XLII-2-W13-827-2019 |
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dc.description.abstract |
With an increasing interest in indoor location based services, vision-based indoor localization techniques have attracted many attentions from both academia and industry. Inspired by the development of simultaneous localization and mapping technique (SLAM), we present a visual SLAM-based approach to achieve a 6 degrees of freedom (DoF) pose in indoor environment. Firstly, the indoor scene is explored by a keyframe-based global mapping technique, which generates a database from a sequence of images covering the entire scene. After the exploration, a feature vocabulary tree is trained for accelerating feature matching in the image retrieval phase, and the spatial structures obtained from the keyframes are stored. Instead of querying by a single image, a short sequence of images in the query site are used to extract both features and their relative poses, which is a local visual SLAM procedure. The relative poses of query images provide a pose graph-based geometric constraint which is used to assess the validity of image retrieval results. The final positioning result is obtained by selecting the pose of the first correct corresponding image. © Authors 2019. |
eng |
dc.language.iso |
eng |
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dc.publisher |
Göttingen : Copernicus |
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dc.relation.ispartof |
ISPRS Geospatial Week 2019 |
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dc.relation.ispartofseries |
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; 42-2/W13 |
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dc.rights |
CC BY 4.0 Unported |
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dc.rights.uri |
https://creativecommons.org/licenses/by/4.0/ |
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dc.subject |
Bag-of-visual-word |
eng |
dc.subject |
Geometric constraint |
eng |
dc.subject |
Image retrieval |
eng |
dc.subject |
Indoor localization |
eng |
dc.subject |
SLAM |
eng |
dc.subject |
Degrees of freedom (mechanics) |
eng |
dc.subject |
Image retrieval |
eng |
dc.subject |
Location based services |
eng |
dc.subject |
Mapping |
eng |
dc.subject |
Query processing |
eng |
dc.subject |
Robotics |
eng |
dc.subject |
Telecommunication services |
eng |
dc.subject |
Bag-of-visual-words |
eng |
dc.subject |
Geometric constraint |
eng |
dc.subject |
Indoor environment |
eng |
dc.subject |
Indoor localization |
eng |
dc.subject |
Indoor localization techniques |
eng |
dc.subject |
Sequence of images |
eng |
dc.subject |
Simultaneous localization and mapping |
eng |
dc.subject |
SLAM |
eng |
dc.subject |
Indoor positioning systems |
eng |
dc.subject.classification |
Konferenzschrift |
ger |
dc.subject.ddc |
550 | Geowissenschaften
|
ger |
dc.title |
Vision-based indoor localization via a visual slam approach |
|
dc.type |
BookPart |
|
dc.type |
Text |
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dc.relation.essn |
2194-9034 |
|
dc.relation.issn |
1682-1750 |
|
dc.relation.doi |
https://doi.org/10.5194/isprs-archives-XLII-2-W13-827-2019 |
|
dc.bibliographicCitation.issue |
2/W13 |
|
dc.bibliographicCitation.volume |
42 |
|
dc.bibliographicCitation.firstPage |
827 |
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dc.bibliographicCitation.lastPage |
833 |
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dc.description.version |
publishedVersion |
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tib.accessRights |
frei zug�nglich |
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