A Ray-Based Image Localization System

DENG Lei; CHEN Bao-hua; HUANG Si-yuan; DUAN Yue-qi; ZHOU Jie

doi:10.3969/j.issn.0372-2112.2017.01.001

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A Ray-Based Image Localization System

更新时间：2025-07-16

- A Ray-Based Image Localization System
- Acta Electronica Sinica Vol. 45, Issue 1, Pages: 1-7(2017)
- 作者机构：
  
  1. 清华大学自动化系,北京,100084
  2. 清华信息科学与技术国家实验室,北京,100084
  3. 智能技术与系统国家重点实验室,北京,100084
  4. 清华大学自动化系,北京,100084
  5. 清华信息科学与技术国家实验室,北京,100084
  6. 智能技术与系统国家重点实验室,北京,100084
- 作者简介：
- 基金信息：
- DOI：10.3969/j.issn.0372-2112.2017.01.001
  CLC： TP391
- Published Online：25 January 2017，
  
  Published：2017
- 稿件说明：
移动端阅览
DENG Lei, CHEN Bao-hua, HUANG Si-yuan, et al. A Ray-Based Image Localization System[J]. Acta Electronica Sinica, 2017, 45(1): 1-7.
DOI：

DENG Lei, CHEN Bao-hua, HUANG Si-yuan, et al. A Ray-Based Image Localization System[J]. Acta Electronica Sinica, 2017, 45(1): 1-7. DOI： 10.3969/j.issn.0372-2112.2017.01.001.

摘要

图像定位技术在现实中有广泛的应用，如导航、路径规划、虚拟现实等.对于用户而言，只需拍摄一张图像即可实现定位.本文提出了一种基于射线摄像机模型的图像定位系统，包含基于射线模型的三维重构算法和基于位姿图优化的图像定位方法.提出的三维重构算法利用射线模型的内在几何性质，能够处理全景和鱼眼等广角摄像机模型，降低采集和重构的代价，提升重构的效果.基于位姿图的定位方法融合了图像与点云匹配的信息和图像间相对位姿信息实施定位，得到更高的定位精度.实验证明本文方法的有效性.

Abstract

Image-based localization has wide applications including auto navigation

path planning

virtual reality

etc.For the end user

a single image is required.In this paper

we present a ray-based image localization system including ray-based 3D reconstruction and pose graph optimization-based localization.By using the inherit geometry properties of ray-based camera model

the proposed reconstruction algorithm can deal with various wide FOV camera models (panorama and fisheye) to reduce the reconstruction cost and achieve a better reconstruction result.The proposed pose graph optimization localization framework can combine 2D-3D matches information and relative pose information for a better localization accuracy.Experiment result shows the effectiveness of the proposed system.

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