Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Indoor Positioning Using PnP Problem on Mobile Phone Images

Version 1 : Received: 1 April 2020 / Approved: 3 April 2020 / Online: 3 April 2020 (11:59:48 CEST)

A peer-reviewed article of this Preprint also exists.

Kubíčková, H.; Jedlička, K.; Fiala, R.; Beran, D. Indoor Positioning Using PnP Problem on Mobile Phone Images. ISPRS Int. J. Geo-Inf. 2020, 9, 368. Kubíčková, H.; Jedlička, K.; Fiala, R.; Beran, D. Indoor Positioning Using PnP Problem on Mobile Phone Images. ISPRS Int. J. Geo-Inf. 2020, 9, 368.

Journal reference: ISPRS Int. J. Geo-Inf. 2020, 9, 368
DOI: 10.3390/ijgi9060368

Abstract

As people grow a custom to effortless outdoor navigation there is a rising demand for similar possibility indoors as well. Unfortunately, indoor localization, being one of the necessary requirements for navigation, continues to be problem without a clear solution. In this article we are proposing a method for an indoor positioning system using a single image. This is made possible using small preprocessed database of images with known control points as the only preprocessing needed. Using feature detection with SIFT algorithm we can look through the database and find image which is the most similar to the image taken by user. Pair of images is then used to find coordinates of database image using PnP problem. Furthermore, projection and essential matrices are determined allowing for the user image localization ~ determining the position of the user in indoor environment. Benefits of this approach lies in the single image being the only input from user and no requirements for new onsite infrastructure and thus enables a simpler realization for the building management.

Subject Areas

indoor positioning system; image-based positioning system; computer vision; SIFT; feature detection; feature description; cell phone camera; PnP problem; projection matrix; epipolar geometry; OpenCV

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