T. Oskiper, S. Samarasekera and R. Kumar, “Global Heading Estimation For Wide Area Augmented Reality Using Road Semantics For Geo-referencing,” 2021 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct), 2021, pp. 427-428, doi: 10.1109/ISMAR-Adjunct54149.2021.00096.
In this paper, we present a method to estimate global camera head- ing by associating directional information from road segments in the camera view with annotated satellite imagery. The system is based on a multi-sensor fusion framework that relies on GPS, cam- era and an inertial measurement unit (IMU). The backbone of the system is built on a very strong visual-inertial navigation (VIO) pipeline with very low drift rate and the proposed algorithm com- bines relative motion provided by VIO with global cues obtained by an image segmentation module to extract heading information for geo-referenced AR applications over wide area.