{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,28]],"date-time":"2025-11-28T12:23:43Z","timestamp":1764332623334,"version":"build-2065373602"},"reference-count":54,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T00:00:00Z","timestamp":1529452800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research Development Program of China","award":["2016YFB0502204"],"award-info":[{"award-number":["2016YFB0502204"]}]},{"DOI":"10.13039\/501100002858","name":"China postdoctoral science foundation","doi-asserted-by":"publisher","award":["2017M622523"],"award-info":[{"award-number":["2017M622523"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Indoor positioning is in high demand in a variety of applications, and indoor environment is a challenging scene for visual positioning. This paper proposes an accurate visual positioning method for smartphones. The proposed method includes three procedures. First, an indoor high-precision 3D photorealistic map is produced using a mobile mapping system, and the intrinsic and extrinsic parameters of the images are obtained from the mapping result. A point cloud is calculated using feature matching and multi-view forward intersection. Second, top-K similar images are queried using hamming embedding with SIFT feature description. Feature matching and pose voting are used to select correctly matched image, and the relationship between image points and 3D points is obtained. Finally, outlier points are removed using P3P with the coarse focal length. Perspective-four-point with unknown focal length and random sample consensus are used to calculate the intrinsic and extrinsic parameters of the query image and then to obtain the positioning of the smartphone. Compared with established baseline methods, the proposed method is more accurate and reliable. The experiment results show that 70 percent of the images achieve location error smaller than 0.9 m in a 10 m \u00d7 15.8 m room, and the prospect of improvement is discussed.<\/jats:p>","DOI":"10.3390\/s18061974","type":"journal-article","created":{"date-parts":[[2018,6,20]],"date-time":"2018-06-20T10:41:24Z","timestamp":1529491284000},"page":"1974","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Accurate Smartphone Indoor Visual Positioning Based on a High-Precision 3D Photorealistic Map"],"prefix":"10.3390","volume":"18","author":[{"given":"Teng","family":"Wu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}]},{"given":"Jingbin","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"},{"name":"Department of Remote Sensing and Photogrammetry and the Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, 02430 Masala, Finland"}]},{"given":"Zheng","family":"Li","sequence":"additional","affiliation":[{"name":"Chinese Antarctic Center of Surveying and Mapping, Wuhan University, Wuhan 430079, China"}]},{"given":"Keke","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}]},{"given":"Beini","family":"Xu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,6,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1347","DOI":"10.1109\/COMST.2016.2637663","article-title":"A survey of selected indoor positioning methods for smartphones","volume":"19","author":"Davidson","year":"2016","journal-title":"IEEE Commun. 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