Hybrid Localization System for Mobile Outdoor Augmented Reality Applications

Outdoor Augmented Reality applications often combine heterogeneous sensors to recover 3D localization (position and orientation) in large environments. Indeed, accurate localization is critical to register virtual augmentations over a real scene. This paper describes a localization system composed of two parts: an Aid-localization subsystem and a Vision subsystem. The Aidlocalization subsystem, composed of GPS and inertial sensor, has two functionalities: to initialize the visual tracking and to estimate the user's position and orientation when visual tracking fails. The Vision subsystem which represents the main block, allows continuously estimating the user's position and orientation using point-based visual tracking.