4 May 2010 Real-time indoor positioning using range imaging sensors
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This paper considers a novel indoor positioning method that is currently under development at the ETH Zurich. The method relies on a digital spatio-semantic interior building model CityGML and a Range Imaging sensor. In contrast to common indoor positioning approaches, the procedure presented here does not require local physical reference infrastructure, such as WLAN hot spots or reference markers.
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Tobias K. Kohoutek, Rainer Mautz, Andreas Donaubauer, "Real-time indoor positioning using range imaging sensors", Proc. SPIE 7724, Real-Time Image and Video Processing 2010, 77240K (4 May 2010); doi: 10.1117/12.853688; https://doi.org/10.1117/12.853688

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