Indoor positioning within a single camera and 3D maps

In this paper, we propose a method of vision-based positioning with the use of single camera and newly defined 3D maps for indoor localization and navigation purposes. Our work here is to address the accuracy and reliability concerns of an indoor navigation system. The main contribution will be the adoption of photogrammetric 6DOF pose estimation method to improve the positioning accuracy. DOPs are introduced to evaluate positioning precision within vision-based domain. Quality control strategies are also applied to detect outliers in the observation and strengthen system reliability. Besides, only natural landmarks are required in the proposed method to provide absolute position and orientation information.