360-Degree Camera based Fast Indoor Localization using Image Gradients

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Previously, two different algorithms were implemented and tested in virtual and real environments. One was based on using line information and the other one was based on using door information from floor maps.This year, the main tasks were to summarize the research achievements and brainstorm ideas to improve the accuracy. The method using door information is independent of camera orientation and only uses height information of doors captured in an image by ordering and normalization. The concept was proved to work properly. Efficient search methods were also developed.To further improve the accuracy and enable rotation estimation, vanishing points were also detected in images. It is planned to extend the method to enable 3D measurement by adding a ring laser to the experimental setup.