%0 Journal Article
%T Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments
%A Tobias K. Kohoutek
%A Rainer Mautz
%A Jan D. Wegner
%J Sensors
%D 2013
%I MDPI AG
%R 10.3390/s130202430
%X 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).
%K indoor positioning
%K ToF cameras
%K range imaging
%K CityGML
%K point cloud library
%U http://www.mdpi.com/1424-8220/13/2/2430