Image-Based Indoor Localization Using Smartphone Camera

Table 1

Comparison of mean error in ICL-NUIM dataset.

Method	Living room	Office room
PoseNet	0.60 m, 3.64°	0.46 m, 2.97°
4D PoseNet	0.58 m, 3.40°	0.44 m, 2.81°
CNN+LSTM	0.54 m, 3.21°	0.41 m, 2.66°
Ours	0.48 m, 3.07°	0.33 m, 2.40°