Wide-Area 3D Tracking from Omnivision Video and 3D Structure
نویسندگان
چکیده
We present a work-in-progress method for real-time visionbased localization in indoor environments. Given a rough model of the structure and a video sequence captured from an omnivision camera, the system computes the camera pose (translation and rotation) in the structure coordinate frame. The system has several novel aspects: it performs localization in 3D; it handles highly cluttered and dynamic environments; it scales well over wide-space areas made of several buildings and it runs over several hours without breaking. We demonstrate that the localization problem can be split into two distinct problems: an initialization phase and a maintenance phase. In the initialization phase, the system determines the camera pose with no other information than the estimate provided by the user (building, oor, area, room). In the maintenance phase, the system keeps track of the camera pose from frame to frame without any user interaction.
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