Scalable 6-DOF Localization on Mobile Devices

Sven Middelberg¹, Torsten Sattler², Ole Untzelmann¹, and Leif Kobbelt¹

¹Computer Graphics Group, RWTH Aachen University, Aachen, Germany

²Department of Computer Science, ETH Zürich, Zürich, Switzerland

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.

LNCS 8690, p. 268 ff.

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