High-Precision Localization Using Ground Texture
High-Precision Localization Using Ground Texture
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DOI：
10.1109/icra.2019.8794106
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发表时间：
2017-10
期刊：
影响因子：
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通讯作者：
Linguang Zhang;Adam Finkelstein;S. Rusinkiewicz
中科院分区：
文献类型：
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作者：
Linguang Zhang;Adam Finkelstein;S. Rusinkiewicz
位置感知应用程序在日常生活中扮演着越来越重要的角色。然而，基于卫星的定位（例如GPS）精度有限，在人口密集的城市地区和室内可能无法使用。我们介绍了一种基于图像的全球定位系统，精确到几毫米，在室内和室外都能进行可靠的定位。关键思想是捕捉和索引地面纹理中不同的局部关键点。这是基于对地面纹理的观察，包括木材、地毯、瓷砖、混凝土和沥青可能看起来随机和均匀，但都包含裂缝、划痕或独特的纤维排列。这些缺陷是持久的，可以作为局部特征。我们的系统包含一个向下的摄像头来捕捉地面的精细纹理，以及一个图像处理管道，将捕获的纹理补丁定位在离线构建的紧凑数据库中。我们展示了我们的系统在各种类型的室外和室内地面上稳健，准确和快速定位测试图像的能力。本文包含一个补充视频。所有的数据集和代码都可以在microgps.cs.princeton.edu网站上找到。
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global localization system that is accurate to a few millimeters and performs reliable localization both indoors and outside. The key idea is to capture and index distinctive local keypoints in ground textures. This is based on the observation that ground textures including wood, carpet, tile, concrete, and asphalt may look random and homogeneous, but all contain cracks, scratches, or unique arrangements of fibers. These imperfections are persistent, and can serve as local features. Our system incorporates a downward-facing camera to capture the fine texture of the ground, together with an image processing pipeline that locates the captured texture patch in a compact database constructed offline. We demonstrate the capability of our system to robustly, accurately, and quickly locate test images on various types of outdoor and indoor ground surfaces. This paper contains a supplementary video. All datasets and code are available online at microgps.cs.princeton.edu.