الملخص
Floorplans provide compact and widely available geometric maps for indoor localization, but existing high-performing floorplan-based methods still convert them into dense scene-specific offline databases, tying accuracy, storage, and runtime to the sampling resolution of the discretized pose space. We present FreeLoc, an online RGB-based floorplan localization framework that treats the floorplan as a directly queryable geometric map. FreeLoc introduces an efficient online geometric querying and diffusion-aided refinement scheme, which retrieves plausible pose anchors through on-the-fly floorplan ray querying and refines them into accurate continuous pose estimates. For sequential localization, FreeLoc develops an online likelihood construction strategy that bridges single-frame localization and probabilistic temporal fusion by constructing likelihoods from coarse-sampled candidates and refined pose hypotheses, enabling histogram-filter-based temporal fusion without offline databases. Experiments demonstrate real-time online inference and state-of-the-art performance in both single-frame and sequential localization, while real-world results validate practical deployability in indoor robotic localization scenarios.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Peng, H., Zhou, B., Hu, J., Guo, X., Zhang, Z., Zhao, B., Gao, Y., Li, X., Bao, H., & Cui, Z. (2026). FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement. https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement
MLA 9
Peng, Haocheng, et al. "FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement." https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement.
شيكاغو (المؤلف–التاريخ)
Peng, Haocheng, Boyang Zhou, Jiarui Hu, Xiyue Guo, Ziyang Zhang, Boming Zhao, Yifan Gao, Xiao Li, Hujun Bao, and Zhaopeng Cui. 2026. "FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement." https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement.
هارفارد
Peng, H., Zhou, B., Hu, J., Guo, X., Zhang, Z., Zhao, B., Gao, Y., Li, X., Bao, H. and Cui, Z. (2026) 'FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement', Available at: https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement.
فانكوفر
Peng H, Zhou B, Hu J, Guo X, Zhang Z, Zhao B, et al. FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement. https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement
IEEE
H. Peng, B. Zhou, J. Hu, X. Guo, Z. Zhang, B. Zhao, Y. Gao, X. Li, H. Bao, and Z. Cui, "FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement," https://omanscience.com/ar/articles/freeloc-online-floorplan-localization-via-diffusion-aided-pose-refinement.