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| Main Authors: | , , |
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| Format: | Preprint |
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2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.09724 |
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| _version_ | 1866915613319888896 |
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| author | Cheng, Yunqian Princen, Benjamin Manduchi, Roberto |
| author_facet | Cheng, Yunqian Princen, Benjamin Manduchi, Roberto |
| contents | Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary scan, but are limited by the short range of smartphone LiDAR and ambiguity in indoor layouts. We propose PALMS$+$, a modular, image-based system that addresses these challenges by reconstructing scale-aligned 3D point clouds from posed RGB images using a foundation monocular depth estimation model (Depth Pro), followed by geometric layout matching via convolution with the floor plan. PALMS$+$ outputs a posterior over the location and orientation, usable for direct or sequential localization. Evaluated on the Structured3D and a custom campus dataset consisting of 80 observations across four large campus buildings, PALMS$+$ outperforms PALMS and F3Loc in stationary localization accuracy -- without requiring any training. Furthermore, when integrated with a particle filter for sequential localization on 33 real-world trajectories, PALMS$+$ achieved lower localization errors compared to other methods, demonstrating robustness for camera-free tracking and its potential for infrastructure-free applications. Code and data are available at https://github.com/Head-inthe-Cloud/PALMS-Plane-based-Accessible-Indoor-Localization-Using-Mobile-Smartphones |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_09724 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model Cheng, Yunqian Princen, Benjamin Manduchi, Roberto Computer Vision and Pattern Recognition Artificial Intelligence Robotics Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary scan, but are limited by the short range of smartphone LiDAR and ambiguity in indoor layouts. We propose PALMS$+$, a modular, image-based system that addresses these challenges by reconstructing scale-aligned 3D point clouds from posed RGB images using a foundation monocular depth estimation model (Depth Pro), followed by geometric layout matching via convolution with the floor plan. PALMS$+$ outputs a posterior over the location and orientation, usable for direct or sequential localization. Evaluated on the Structured3D and a custom campus dataset consisting of 80 observations across four large campus buildings, PALMS$+$ outperforms PALMS and F3Loc in stationary localization accuracy -- without requiring any training. Furthermore, when integrated with a particle filter for sequential localization on 33 real-world trajectories, PALMS$+$ achieved lower localization errors compared to other methods, demonstrating robustness for camera-free tracking and its potential for infrastructure-free applications. Code and data are available at https://github.com/Head-inthe-Cloud/PALMS-Plane-based-Accessible-Indoor-Localization-Using-Mobile-Smartphones |
| title | PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence Robotics |
| url | https://arxiv.org/abs/2511.09724 |