BIM-Tracker

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A model-based visual tracking approach for indoor localisation using a 3D building model

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# BIM-Tracker
This is a MATLAB implementaton of our paper "**BIM-Tracker: A model-based visual tracking approach for indoor localisation using a 3D building model**". The provided code is in testing phase and any suggestions regarding improvement and optimisation is welcomed. Please cite our paper if you use the code.

```
@article{ACHARYA2019157,
title = "BIM-Tracker: A model-based visual tracking approach for indoor localisation using a 3D building model",
journal = "ISPRS Journal of Photogrammetry and Remote Sensing",
volume = "150",
pages = "157 - 171",
year = "2019",
issn = "0924-2716",
doi = "https://doi.org/10.1016/j.isprsjprs.2019.02.014",
url = "http://www.sciencedirect.com/science/article/pii/S092427161930053X",
author = "Debaditya Acharya and Milad Ramezani and Kourosh Khoshelham and Stephan Winter",
}
```

## Running the demo
Run the `Demo.m` file for one-click demostration on real data with default settings. For running the demo without visualisation of the estimated camera pose, set the attribute `visualiseFrame = false`. To disable the online trajectory visualisation option set the attribute `visualiseTrajectory = fasle`. Setting `AccurateMode = true` will increase the MSAC samples to guarantee solution and will override maximum MSAC runs settings. Setting `FastMode = true` will allow jump out loop if required confidence reached and reduce the number of loop iterations for faster convergence.

## YouTube video demostration - Click below image
[![Watch the video](https://img.youtube.com/vi/cq7mk4mfdRA/maxresdefault.jpg)](https://youtu.be/cq7mk4mfdRA)

## What will be loaded?
The `aux_data_real.mat` file contain the image edge files that were extracted by Canny edge detector and visible edges of the BIM in the field-of-view of the camera that are being used for matching. The data structure of the visible edges are in the following order of `[lineId, X1, Y1, Z1, X2, Y2, Z2]`, containing the XYZ locations of two endpoints.

## Using you own data
To test with you own data, it is required to generate the edge images and the visible edges of the BIM in the field-of-view of the camera. The visible edge rendering was performed using [Blender](www.blender.org). For convinience, it is recommended to extract the visible edges offline by defining an approximate trajectory in the BIM in the following manner:

- Import your BIM in IFC format into Belnder.
- Combine all the elements of the model together to form a single mesh. Next, simplyfy the mesh by *limited dissolve* to merge the trianges into planes.
- Configure the virtual camera, such as focal length, sensor size and projection model.
- Define an approximate trajectory and set the approximate number of frames for the test case.
- Run the provided python script `edge_render.py` in the **extras** folder. 
  - The script will generate three text files containing the approximate trajectory, all the vertices of the BIM and the visible vertices per frame.
- Use the MATLAB script in the **extras** folder called `edges_with_vertices.m`to converts the text files generated into visible edges for each frame. This will create a file called `visible_edges.mat` that will be used later by the script `AuxFileGeneration.m`
- Lastly, use the script `AuxFileGeneration.m` in the **extras** folder to generate the `aux_data.mat` file, that will generate the edge images from the real images, using Canny edge detector. Place the generated `aux_data.mat` file in the folder containing the `Demo.m` script.

The Ray Tracing algorithm of Blender misses to detect some of the vertices. Therefore, to improve the detections, the script called `addCubes.py` can be executed in object mode of Blender to add micro cubes at each vertex, prior to executing the script `edge_render.py`. The script called `deleteCubes.py` can be used to remove the cubes after the rendering for the whole trajectory is done. For more information on the script visit [here](https://blender.stackexchange.com/questions/77607/how-to-get-the-3d-coordinates-of-the-visible-vertices-in-a-rendered-image-in-ble).

An **example Blender file** containing the simplified BIM, an approximate trajectory for the demo and the camera parameters is present in the **extras** folder in the name of `BlenderExample.blend`. If you use the IFC model kindly cite our work:

```
@article{khoshelham2017isprs,
  title={{THE ISPRS BENCHMARK ON INDOOR MODELLING}.},
  author={Khoshelham, Kourosh and Vilari{\~n}o, L D{\'\i}az and Peter, Michael and Kang, Zhizhong and Acharya, Debaditya},
  journal={International Archives of the Photogrammetry, Remote Sensing \& Spatial Information Sciences},
  volume={XLII-2/W7},
  year={2017},
  pages={367-372},
  doi={https://doi.org/10.5194/isprs-archives-XLII-2-W7-367-2017}, 
}
```

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