UMapの相互類似度評価に基づく建築物の繰り返し構造の定量化

抄録

Universal Map (UMap) is a localization system consisting of a server and a client that matches images obtained from a camera with DB images with coordinate information obtained from a 3D surface model. The problem with UMap is that it is difficult to send correct coordinate information in areas like corridors where fittings such as doors, windows, and lighting are lined up repeatedly. In order to prevent such mismatching, we calculate the mutual similarity between DB images, quantify the indoor repetitive structure, and verify the position of the camera and the generation area of the DB images that do not cause mismatching.