The evaluation results demonstrate that our system can achieve localization with an average error of less than 1 m without knowledge of the camera’s intrinsic parameters, such as focal length. For evaluation purposes, mapping and localization were tested in a complex hospital environment. The end-to-end system can be installed on any internet-accessible device with a camera that hosts a custom mobile application. Sequential images used for map construction can be collected in a pre-mapping step or scavenged through public databases/citizen science. The topometric map used for localization and navigation is built using a customized graphical user interface that projects a 3D reconstructed sparse map, built from a sequence of images, to the corresponding a priori 2D floor plan. Additionally, this system implements Dijkstra’s algorithm to calculate a shortest path based on a navigable map that includes the trip origin and destination. Another downstream task utilizes the perspective-n-point (PnP) algorithm to estimate the end user’s direction by exploiting the 2D–3D point correspondences between the query image and the 3D environment, as extracted from matched images in the database. The geolocations of these similar images are utilized in a downstream task that employs a weighted-average method to estimate the end user’s location. Given a query image taken by an end user on a mobile application, the pipeline leverages a visual place recognition (VPR) algorithm to find similar images in a reference image database of the target space. Herein, we propose a novel vision-based localization pipeline for a specific use case: navigation support for end users with blindness and low vision. Compared to sensor-based solutions, vision-based localization does not require pre-installed sensor infrastructure, which is costly, time-consuming, and/or often infeasible at scale. Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases, from robotics to assistive technologies.
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Resolver options are usually set in the network interface’s configuration file. Depending on your distribution, nf may be overwritten by a networking service such as NetworkManager or systemd-resolved. However, unless you have a specific reason for doing so, you should not change your Linode’s nameservers by editing /etc/nf. Networking tab of the Linode detail page in theĬloud Manager, though of course you are free to use any resolvers you choose. Your DNS resolver addresses are listed under the This must always be configured on your Linode in order to have network access. The gateway in this instance works similarly to a router, and provides access to the wider internet and other Linode services. A gateway should not be specified for private IP addresses. That gateway should be on the same network as the desired IP address.įor example, if the address 198.51.100.5 is assigned to the interface eth0:3, you should use 198.51.100.1 as the gateway. Additionally, the subnet mask for private IPs should be 255.255.128.0, not 255.255.255.0.Īlthough your Linode may have multiple IP addresses assigned, and additionally may be using virtual interfaces and aliases, you should only specify a gateway for one interface. The IP blocks available to your Linode are shown below. Most outbound connections will originate from the IP assigned to eth0, but if you need server daemons to bind to a particular IP address or interface, you’ll need to specify that in the appropriate configuration files. General InformationĮach Linode has only one virtual network interface, eth0, but depending on your distribution, additional IPs can be assigned to interface aliases (ex: eth0:1, eth0:2, etc.). Lish, so if a configuration error disconnects your SSH session, you won’t be locked out of a system that has no network access. 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