Outdoor mobile localization from panoramic imagery

We describe an end-to-end system for mobile, vision-based localization and tracking in urban environments. Our system uses panoramic imagery which is processed and indexed to provide localization coverage over a large area using few capture points. We utilize a client-server model which allows for remote computation and data storage while maintaining real-time tracking performance. Previous search results are cached and re-used by the mobile client to minimize communication overhead. We evaluate the use of the system for flexible real-time camera tracking in large outdoor spaces.