Single and Double Reference Points Based High Precision 3D Indoor Positioning with Camera and Orientation-Sensor on Smart Phone

This paper proposes a high precision 3D indoor positioning method, which depends on one or two reference points in scene and camera and orientation-sensor on smart phone. The proposed method has the merits of implementing simplicity, high accuracy, friendly availability and low cost. The proposed method adopts only single or double reference points and camera imaging model for camera calibrating and 3D positioning. Classical camera calibration method uses a set of reference points, but the proposed camera calibration method is easier to implement. Traditional computer vision based positioning method, P3P, utilizes at least three points and has multiple solutions. The proposed positioning method is equal to P2P or P1P, but is faster and has unique solution. The proposed method achieves the high 3D positioning precision at the level less than 30 cm. The proposed method employs smart phone as hardware and software carrier, which is more usable than other methods. In a word, the proposed method is very suitable for low-cost and high precision 3D indoor positioning.