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. © 2014 Springer International Publishing.
CITATION STYLE
Middelberg, S., Sattler, T., Untzelmann, O., & Kobbelt, L. (2014). Scalable 6-DOF localization on mobile devices. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8690 LNCS, pp. 268–283). Springer Verlag. https://doi.org/10.1007/978-3-319-10605-2_18
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