A simple indoor self-localization system using infrared LEDs

Authors:
Shunsuke Hijikata;Kenji Terabayashi;Kazunori Umeda
Affiliations:
Course of Precision Engineering, School of Science and Engineering, Chuo University, Tokyo, Japan;Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University and CREST, JST, Tokyo, Japan;Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University and CREST, JST, Tokyo, Japan
Venue:
INSS'09 Proceedings of the 6th international conference on Networked sensing systems
Year:
2009

Citing 4
Cited 0

Linear N-Point Camera Pose Determination

IEEE Transactions on Pattern Analysis and Machine Intelligence
Discreet Markers for User Localization

ISWC '04 Proceedings of the Eighth International Symposium on Wearable Computers
PnP Problem Revisited

Journal of Mathematical Imaging and Vision
High-Performance Wide-Area Optical Tracking: The HiBall Tracking System

Presence: Teleoperators and Virtual Environments

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a simple and robust method for indoor self-localization is proposed. Infrared LEDs are used as landmarks. They are set at known positions and observed by a CCD camera on a mobile robot. As a consequence, self-localization is carried out. The acquisition of the position and orientation of the robot with two or more LEDs is formulated. The nonlinear least squares method is applied. Experiments with a constructed experimental system evaluate the proposed method. Error analysis is performed by simulations. The proposed method realizes a very simple indoor GPS using only several infrared LEDs and a CCD camera.