title: Fusion of building information and range imaging for autonomous location estimation in indoor environments.
abstract: 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).
authors: Institute of Geodesy and Photogrammetry, ETH Zurich, Zurich, Switzerland. tobias.kohoutek@geod.baug.ethz.ch
authors: Tobias K
authors: TK
authors: Kohoutek
authors: Rainer
authors: R
authors: Mautz
authors: Jan D
authors: JD
authors: Wegner