Collecting massive amounts of image data is a common way to record the postevent condition of buildings, to be used by engineers and researchers to learn from that event. Key information needed to interpret the image data collected during these reconnaissance missions is the location within the building where each image was taken. However, image localization is difficult in an indoor environment, as GPS is not generally available because of weak or broken signals. To support rapid, seamless data collection during a reconnaissance mission, we develop and validate a fully automated technique to provide robust indoor localization while requiring no prior information about the condition or spatial layout of an indoor environment. The technique is meant for large-scale data collection across multiple floors within multiple buildings. A systematic method is designed to separate the reconnaissance data into individual buildings and individual floors. Then, for data within each floor, an optimization problem is formulated to automatically overlay the path onto the structural drawings providing robust results, and subsequently, yielding the image locations. The end-to-end technique only requires the data collector to wear an additional inexpensive motion camera, thus, it does not add time or effort to the current rapid reconnaissance protocol. As no prior information about the condition or spatial layout of the indoor environment is needed, this technique can be adapted to a large variety of building environments and does not require any type of preparation in the postevent settings. This technique is validated using data collected from several real buildings.

中文翻译：

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图像自动定位，支持大范围快速建筑物侦察

收集大量图像数据是记录建筑物事后状况的常用方法，供工程师和研究人员用来从该事件中学习。解释在这些侦察任务期间收集的图像数据所需的关键信息是拍摄每张图像的建筑物内的位置。然而，在室内环境中图像定位很困难，因为 GPS 由于信号微弱或中断而通常不可用。为了在侦察任务期间支持快速、无缝的数据收集，我们开发并验证了一种全自动技术，以提供强大的室内定位，同时不需要事先有关室内环境的状况或空间布局的信息。该技术适用于跨多个建筑物内多个楼层的大规模数据收集。设计了一种系统方法，将侦察数据分离到各个建筑物和各个楼层。然后，对于每层楼内的数据，制定优化问题以自动将路径叠加到结构图上，提供稳健的结果，并随后产生图像位置。端到端技术只需要数据收集者额外佩戴一个廉价的运动相机，因此，它不会增加当前快速侦察协议的时间或精力。由于不需要有关室内环境条件或空间布局的先验信息，这种技术可以适应各种建筑环境，并且不需要在事后设置中进行任何类型的准备。使用从几个真实建筑物收集的数据验证了该技术。