Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments

Algorithm 3

Image-based localization algorithm.

(1) Select the candidate database images by the BOF image retrieval.

(2) for  

(3)Compute the essential matrix between the query image and the

database image.

(4)Decompose the essential matrix into the rotation

matrix and the translation vector by SVD.

(5) end

(6) Compute the position of the intersection determined by each two

connecting lines.

(7) Compute the estimated location of the query camera.