{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:30:20Z","timestamp":1760243420137,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2013,2,14]],"date-time":"2013-02-14T00:00:00Z","timestamp":1360800000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera\u2019s pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance).<\/jats:p>","DOI":"10.3390\/s130202430","type":"journal-article","created":{"date-parts":[[2013,2,14]],"date-time":"2013-02-14T11:25:47Z","timestamp":1360841147000},"page":"2430-2446","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments"],"prefix":"10.3390","volume":"13","author":[{"given":"Tobias","family":"Kohoutek","sequence":"first","affiliation":[{"name":"Institute of Geodesy and Photogrammetry, ETH Zurich, Wolfgang-Pauli-Str. 15, 8093 Zurich, Switzerland"}]},{"given":"Rainer","family":"Mautz","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Photogrammetry, ETH Zurich, Wolfgang-Pauli-Str. 15, 8093 Zurich, Switzerland"}]},{"given":"Jan","family":"Wegner","sequence":"additional","affiliation":[{"name":"Institute of Geodesy and Photogrammetry, ETH Zurich, Wolfgang-Pauli-Str. 15, 8093 Zurich, Switzerland"}]}],"member":"1968","published-online":{"date-parts":[[2013,2,14]]},"reference":[{"key":"ref_1","unstructured":"Mautz, R. 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