A landmark based localization with uncertainty analysis based on cameras and geo-referenced landmarks is presented in this paper. The system is developed to adapt different camera configurations for six degree-of-freedom pose estimation. Local bundle adjustment is applied for optimization and the geo-referenced landmarks are integrated to reduce the drift. In particular, the uncertainty analysis is taken into account. On the one hand, we estimate the uncertainties of poses to predict the precision of localization. On the other hand, uncertainty propagation is considered for matching, tracking and landmark registering. The proposed method is evaluated on both KITTI benchmark and the data acquired by a mobile mapping system. In our experiments, decimeter level accuracy can be reached.

本文提出了一种基于地标的定位技术，并基于相机和地理参考地标进行了不确定性分析。开发该系统以适应不同的相机配置，以实现六个自由度的姿势估计。应用局部束调整进行优化，并集成地理参考地标以减少漂移。尤其要考虑不确定性分析。一方面，我们估计姿势的不确定性以预测定位的精度。另一方面，不确定性传播被考虑用于匹配，跟踪和界标注册。在KITTI基准和移动制图系统获取的数据上对所提出的方法进行了评估。在我们的实验中，可以达到分米级的精度。