Abstract
Recent improvements in image-based localization have produced powerful methods that scale up to the massive 3D models emerging from modern Structure-from-Motion techniques. However, these approaches are too resource intensive to run in real-time, let alone to be implemented on mobile devices. In this paper, we propose to combine the scalability of such a global localization system running on a server with the speed and precision of a local pose tracker on a mobile device. Our approach is both scalable and drift-free by design and eliminates the need for loop closure. We propose two strategies to combine the information provided by local tracking and global localization. We evaluate our system on a large-scale dataset of the historic inner city of Aachen where it achieves interactive framerates at a localization error of less than 50cm while using less than 5MB of memory on the mobile device.
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Middelberg, S., Sattler, T., Untzelmann, O., Kobbelt, L. (2014). Scalable 6-DOF Localization on Mobile Devices. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds) Computer Vision – ECCV 2014. ECCV 2014. Lecture Notes in Computer Science, vol 8690. Springer, Cham. https://doi.org/10.1007/978-3-319-10605-2_18
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DOI: https://doi.org/10.1007/978-3-319-10605-2_18
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