文章基本信息

标题：Visual Positioning in Indoor Environments Using RGB-D Images and Improved Vector of Local Aggregated Descriptors
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作者：Longyu Zhang ; Hao Xia ; Qingjun Liu 等
期刊名称：ISPRS International Journal of Geo-Information
电子版ISSN：2220-9964
出版年度：2021
卷号：10
期号：4
页码：195
DOI：10.3390/ijgi10040195
语种：English
出版社：MDPI AG
摘要：Positioning information has become one of the most important information for processing and displaying on smart mobile devices. In this paper, we propose a visual positioning method using RGB-D image on smart mobile devices. Firstly, the pose of each image in the training set is calculated through feature extraction and description, image registration, and pose map optimization. Then, in the image retrieval stage, the training set and the query set are clustered to generate the vector of local aggregated descriptors (VLAD) description vector. In order to overcome the problem that the description vector loses the image color information and improve the retrieval accuracy under different lighting conditions, the opponent color information and depth information are added to the description vector for retrieval. Finally, using the point cloud corresponding to the retrieval result image and its pose, the pose of the retrieved image is calculated by perspective-n-point (PnP) method. The results of indoor scene positioning under different illumination conditions show that the proposed method not only improves the positioning accuracy compared with the original VLAD and ORB-SLAM2, but also has high computational efficiency.