Mobile phone indoor scene features recognition localization method based on semantic constraint of building map location anchor

Abstract Visual features play a key role in indoor positioning and navigation services as the main semantic information to help people understand the environment. However, insufficient semantic constraint information and mismatching localization without building map have hindered the ubiquitous application services. To address the problem, we propose a smartphone indoor scene features recognition localization method with building map semantic constraints. First, based on Geographic Information System and Building Information Modeling techniques, a geocoded entity library of building Map Location Anchor (MLA) is constructed, which is able to provide users with “immersive” meta-building-map and semantic anchor constraints for mobile phone positioning when map matching. Second, using the MYOLOv5s deep learning model improved on indoor location scenario, the nine types of ubiquitous anchor features in building scenes are recognized in real time by acquiring video frames from the smartphone camera. Lastly, the spatial locations of the ubiquitous indoor facilities obtained using smartphone video recognition are matched with the MLA P3P algorithm to achieve real-time positioning and navigation. The experimental results show that the MLA recognition accuracy of the improved MYOLOv5s is 97.2%, and the maximum localization error is within the range of 0.775 m and confined to the interval of 0.5 m after applying the Building Information Modeling based Positioning and Navigation road network step node constraint, which can effectively achieve high positioning accuracy in the building indoor scenarios with adequate MLA and road network constraint.