Accurate localization for mobile device using a multi-planar city model

摘要

This paper presents a novel method for estimating the unknown 6DOF pose of a mobile device. The method is based on matching between the mobile image and the virtual city model which is merely composed of 3D points on planar building facade. The main contributions of this paper are as follows: firstly, we design a new plane generation strategy which fuses the 3D model points, photo homography and the orientation of the buildings together within RANSAC framework. Secondly, we propose a novel energy-based method which can parallel solve the mobile poses as well as the best 2D-3D matches. Thirdly, a client/server mode is established to support a speedy localization experience on the mobile devices. To the best of our knowledge, this is the first implementation that uses such a multi-planar model to accurately locate the mobile device in a scene of city scale. Experiment shows that the localization performance becomes faster and more robust comparing with other methods when adding the multi-planar information of the buildings to localization algorithm.