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Published Articles >> Table of Contents >> Abstract
Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
pp. 33-40
Image Based Localization in Urban Environments
Wei Zhang, George Mason University, USA
Jana Kosecka, George Mason University, USA
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/3DPVT.2006.80
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| Abstract |
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In this paper we present a prototype system for image based
localization in urban environments. Given a database of
views of city street scenes tagged by GPS locations, the system
computes the GPS location of a novel query view. We
first use a wide-baseline matching technique based on SIFT
features to select the closest views in the database. Often
due to a large change of viewpoint and presence of repetitive
structures, a large percentage of matches (> 50%) are not
correct correspondences. The subsequent motion estimation
between the query view and the reference view, is then
handled by a novel and efficient robust estimation technique
capable of dealing with large percentage of outliers. This
stage is also accompanied by a model selection step among
the fundamental matrix and the homography. Once the motion
between the closest reference views is estimated, the
location of the query view is then obtained by triangulation
of translation directions. Approximate solutions for cases
when triangulation cannot be obtained reliably are also described.
The presented system is tested on the dataset used
in ICCV 2005 Computer Vision Contest and is shown to
have higher accuracy than previous reported results.
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 Additional Information
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Citation:
Wei Zhang, Jana Kosecka,
"Image Based Localization in Urban Environments,"
3dpvt,
pp. 33-40,
Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06),
2006
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