| Algorithm 1. Visual positioning algorithm. |
| Camera calibration by MATLAB’s calibration tools (Section 2.1); Acquire the side lengths of the door from the floor plan of the building and obtain the corner’s pixel coordinates of the doorframe by the corner detection algorithm (Section 2.2); Obtain the exterior orientation elements by the rigorous imaging model recovery algorithm (Section 2.3); Calculate the user’s position by the relationship of two coordinate systems (Section 2.4). |
| end for |
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