Localization is a highly anticipated and active research topic. It divides into various areas concerning different interest s and needs. Application of localization starts with basic questions like where am I and how can I acquire the locatio n information.” In terms of hardware usage in localization laser scanners and cameras are examples of collecting environment informati on in different kinds of data. In this thesis, image based localization is conducted with the images that are retrieved by cameras. Cameras are tools for computer vision based approaches. According to the needs of the user, image data is processed during operation or mapping of an area is done with all collected images. These images are the starting point of image based localization. The area that localization takes place is reconstruct ed by collected images from this area b ecause of the relationship betw een localization accuracy and 3D reconstruction of the scene. It is significant for localization. Reconstruction in this study is done by COLMAP which is open source software that has a pipeline structure to create a sparse and dense model from collected images. The r econstruction process is exe- cuted by using theories such as Scale Invariant Feature Transform ( Structure from Motion ( and Multi View Stereo ( R econstruction of the scene is used to find the location of a particular image with its camera poses inside a n aligned large laser scanned point cloud. To achieve this, the reconstruct ion steps are observed in a different set of parameters to reach a dense reconstructed model, and alignment quality is tried to be improved.     «

Localization is a highly anticipated and active research topic. It divides into various areas concerning different interest s and needs. Application of localization starts with basic questions like where am I and how can I acquire the locatio n information.” In terms of hardware usage in localization laser scanners and cameras are examples of collecting environment informati on in different kinds of data. In this thesis, image based localization is conducted with the images that are retrieved by...     »