Method for determining a location from images acquired of an environment with an omni-directional camera

摘要

A location and orientation in an environment is determined by first acquiring a real omni-directional image of an unknown skyline in the environment. A set of virtual omni-directional images of known skylines are synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known location and orientation. The real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation.