A Tightly Coupled VLC-Inertial Localization System by EKF

Qing, Liang; Liu, Ming

doi:10.1109/lra.2020.2975730

Cited by 24 publications

(22 citation statements)

References 14 publications

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“…where the first and second entries represent the edges (1, 2) (or (3, 4)) and (1, 3) (or (2, 4)), respectively, with the third and fourth acquired from the two diagonal combinations of corners (1,4) and (2,3). The second equation is obtained through a transformation and requires the dimensions of the runway to be known.…”

Section: This Provides the Constraintmentioning

confidence: 99%

“…An extension of this principle to computer vision transforms the problem into estimating the pose between the object and the camera from which it is being observed. There has been significant progress in determining the pose of six degrees-of-freedom platforms, particularly by integrating inertial measurement units and monocular/stereo cameras for navigation and mapping [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

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Unit dual quaternion‐based pose optimisation for visual runway observations

Brambley

Kim

2020

IET cyber-systems robotics

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Section: This Provides the Constraintmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Unit dual quaternion‐based pose optimisation for visual runway observations

Brambley

Kim

2020

IET cyber-systems robotics

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“…An angle of arrival localization algorithm based on three or more LEDs was proposed in work [15], where a camera is regarded as an angle-of-arrival sensor and its average error is >10 cm. e work in [19,20] uses EKF-based fusion method to realize robust visible light positioning system with an IMU and a rolling-shutter camera, which can reach centimeter-level accuracy. e work in [10,19,21] first proposed VLP-based system on robots; however, they all implemented the system at the experimental level only.…”

Section: Introductionmentioning

confidence: 99%

High-Accuracy and Real-Time Indoor Positioning System Based on Visible Light Communication and Mobile Robot

Yan

Huang

et al. 2020

International Journal of Optics

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For mobile robots and location-based services, precise and real-time positioning is one of the most basic capability, and low-cost positioning solutions are increasingly in demand and have broad market potential. In this paper, we innovatively design a high-accuracy and real-time indoor localization system based on visible light positioning (VLP) and mobile robot. First of all, we design smart LED lamps with VLC and Bluetooth control functions for positioning. The design of LED lamps includes hardware design and Bluetooth control. Furthermore, founded on the loose coupling characteristics of ROS (Robot Operator System), we design a VLP-based robot system with VLP information transmitted by designed LED, dynamic tracking algorithm of high robustness, LED-ID recognition algorithm, and triple-light positioning algorithm. We implemented the VLP-based robot positioning system on ROS in an office equipped with the designed LED lamps, which can realize cm-level positioning accuracy of 3.231 cm and support the moving speed up to 20 km/h approximately. This paper pushes forward the development of VLP application in indoor robots, showing the great potential of VLP for indoor robot positioning.

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“…One of the most urgent issues arises from the fact that VLP normally requires multiple LED observations at a time for successful positioning through trilateration or triangulation. This is because the normal LED lights offer less usable point features due to the lack of distinguishable appearance, e.g., one feature for a circular LED [15]. However, the number of decodable LEDs in a camera view is limited by a couple of practical factors, such as deployment density and geometry layout of LEDs, obstruction of the LOS views, limited field-of-view (FOV) of the camera, etc.…”

Section: A Motivationmentioning

confidence: 99%

“…As such, the shortage or outage of LEDs can severely deteriorate the performance of the camera-only method in reality. To address this problem, different VLP-aided inertial localization methods have been proposed [6], [15]- [17] to provide pose estimation by combining VLP and the inertial measurement unit (IMU). In [17], An Extended Kalman Filter (EKF)-based loosely-coupled VLP-inertial fusion method is proposed.…”

Section: A Motivationmentioning

confidence: 99%

Robot Localization and Navigation Using Visible Light Positioning and SLAM Fusion

Guan

Huang

Wen

et al. 2021

J. Lightwave Technol.

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Visible light positioning (VLP) is a promising technology since it can provide high accuracy indoor localization based on the existing lighting infrastructure. However, existing approaches often require dense LED distributions and persistent line-of-sight (LOS) between transmitter and receiver. What's more, sensors are imperfect, and their measurements are prone to errors. Through multi sensors fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable pose estimations. In this work, we propose a loosely-coupled multi-sensor fusion method based on VLP and Simultaneous Localization and Mapping (SLAM), using light detection and ranging (LiDAR), odometry, and rolling shutter camera. Our multi-sensor localizer can provide accurate and robust robot localization and navigation in LED shortage/outage situations. The experimental results show that our proposed scheme can provide an average accuracy of 2.5 cm with around 42 ms average positioning latency.

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A Tightly Coupled VLC-Inertial Localization System by EKF

Cited by 24 publications

References 14 publications

Unit dual quaternion‐based pose optimisation for visual runway observations

Unit dual quaternion‐based pose optimisation for visual runway observations

High-Accuracy and Real-Time Indoor Positioning System Based on Visible Light Communication and Mobile Robot

Robot Localization and Navigation Using Visible Light Positioning and SLAM Fusion

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