Fig. 1. Typical scenario of indoor imaging positioning.

Fig. 2. (a) Positioning cellular and principle, (b) azimuth, roll, and pitch angle of mobile device.

Fig. 3. Flow chart of the imaging positioning algorithm.

Fig. 4. Block diagram of the imaging positioning system.

Fig. 5. Scenario of the imaging positioning cellular.

Fig. 6. (a) Captured image at (0.8, 0.2, 0.2), (b) corresponding restructured image at (0.8, 0.2, 0.2).

Fig. 7. (a) 2D positioning errors with azimuth, roll, and pitch angles equal to 0°, (b) 3D positioning errors with azimuth, roll, and pitch angles equal to 0°.

Fig. 8. CDFs of positioning errors with (a) azimuth, roll and pitch angles equal 0°, (b) azimuth angle equals 270°, roll and pitch angles equal 0°.

Fig. 9. (a) 2D positioning errors with azimuth angle equal to 270°, roll, and pitch angles equal to 0°, (b) 3D positioning errors with azimuth angle equal to 270°, and roll and pitch angles equal to 0°.

Fig. 10. (a) 2D positioning errors with azimuth angle equal to 270°, and roll and pitch angle equal to 5°, (b) 3D positioning errors with azimuth angle equal to 270°, and roll and pitch angles equal to 5°.

Fig. 11. CDFs of positioning errors with azimuth angle equal to 270°, roll, and pitch angles equal to 5°.