Design and performance evaluation of wiimote-based two-dimensional indoor localization systems for indoor mobile robot control

Gu, Da‐Wei; Chen, Kuo-Shen

doi:10.1016/j.measurement.2015.01.009

Cited by 13 publications

(8 citation statements)

References 28 publications

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“…In error Equation (16), X 3×1 = [a, b, c] T , the matrix of A 3(n−1)×3 and L 3(n−1)×1 are shown in Equation (17) and Equation (18).…”

Section: Multiple Common Points In Rodrigues Coordinate Transformatiomentioning

confidence: 99%

“…Nevertheless, this system requires that the optical axis of the camera always point to the target center point, which makes the method complex and clumsy. In [18], a CMOS camera based on Wiimote is used to capture infrared LEDs (Light Emitting Diodes) for indoor mobile robot tracking, then the position and orientation of Wiimote can be estimated by using coordinate transformation, but this method is only suitable for 2D scenarios. The ToF camera is also can be used for indoor positioning [19,20], but it cannot work alone for indoor positioning, and needs the assistance of other equipment.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Position and Orientation Sensor for Indoor Navigation Based on Linear CCDs

Wang

2020

Sensors

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The position and orientation of a mobile agent, such as robot or drone, etc., should be estimated in a timely way during operation in the structured indoor environment, so as to ensure the security and efficiency of task execution. Concerning the problem that the position and orientation are often estimated separately by different kinds of sensors in the off-the-shelf methods, we design a novel position orientation sensor (POS). The POS consists of four pairs of linear charge-coupled devices (CCDs) and cylindrical lenses, which can estimate the 3D coordinate of the anchor in the POS’s field of view. After detecting at least three anchors in its field of vision sequentially, the Rodrigues coordinate transformation algorithm is utilized to estimate the position and orientation of POS simultaneously. Meanwhile, the position and orientation are estimated at the receiver side. Hence there is no privacy concern associated with this system. The architecture of the proposed POS is symmetrical and redundant, even if one of the linear CCDs or cylindrical lens malfunctions, the whole system could still work normally. The proposed method is cost-effective and easily extends to a wide range. The numerical simulation demonstrates the feasibility and high accuracy of the proposed method, and it outperforms the off-the-shelf methods.

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“…In error Equation (16), X 3×1 = [a, b, c] T , the matrix of A 3(n−1)×3 and L 3(n−1)×1 are shown in Equation (17) and Equation (18).…”

Section: Multiple Common Points In Rodrigues Coordinate Transformatiomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Position and Orientation Sensor for Indoor Navigation Based on Linear CCDs

Wang

2020

Sensors

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“…According to its fixed ratio of displayed pixel length to sensing distance, it has served as an alternative choice for indoor localization sensors. In our previous studies, Gu and Chen utilized Wiimotes to establish an accurate 2D localization system for indoor mobile robot control (6) . However, all of those previous works were focused on 2D localization only.…”

Section: Fig 1 the Nintendo Wiimotementioning

confidence: 99%

“…For cost effective concern and fair localization resolution, IR localization scheme is another possible choice (5) . In particular, IR-based Wiimote has already been developed for many applications beyond its original TV game design (6) .…”

Section: Introductionmentioning

confidence: 99%

Development of 3D Positioning Scheme by Integration of Multiple Wiimote IR Cameras

Chan¹,

Li²,

Chen³

2017

The Proceedings of the 5th International Conference on Industrial Application Engineering 2017

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A Wiimote 3D localization scheme has been developed for smart living or computer animation applications. This scheme utilizes a pair of Wiimotes to form a stereo vision and a kinematics relation is established to extract the 3D position of objects by using geometric transformation. However, due to the limitation in pixel resolution, the positioning resolution deteriorated at larger sensing distance. Therefore, a dual Wiimotes 3D scheme is also proposed for further improving the performance at the foundation of the single Wiimote 3D localization. By adding another Wiimote pair at the opposite side, we can expand the positioning range and reduce the positioning error with larger sensing distance. The experimental results indicate that this scheme is effective in achieving the above mentioned goals. With properly integration with this scheme, It is expected that applications such as positioning of indoor mobile robots and human motion capture for animations could achieve a better performance.

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“…IR indoor positioning, which determines the location by projecting and receiving a modulation IR line with optical sensor devices, such as wiimote CMOS cameras, is another approach. This approach can be relatively accurate in 2D indoor localization applications and it already demonstrated its performance in various applications [6]. Li et al developed 3D localization scheme based on dual wiimote layout.…”

Section: Introductionmentioning

confidence: 99%

Development of General Wiimote 3D Localization Scheme and its Application on Robot Arm Attitude Detection

Hsu

Chan

et al. 2020

JIIAE

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Indoor localization has been receiving great interest and 2D localization system based on infrared LED-based wiimote camera is also well-developed. Although 3D positioning techniques based on infrared LED detection have been proposed and validated, it is not yet matured for general indoor localization due to its insufficient sensing zone and specific layout attitude, which may not always have been satisfied. In this work, based on previous research, a layout is proposed to extend the sensing region to cover the entire indoor space by deploying many wiimote 3D pairs and make sure the object can be detected by at least two wiimote pairs during motion. However, this also implies that the original optimal deployed attitude cannot be maintained. As a result, to deal with this problem, a variable-angle dual wiimote 3D system is developed and corresponding localization performance and sensitivity analysis is carried out for clarifying the above concern. From sensitivity analysis result, better performance in X displacement detection is achieved with the orientation setting in 90 • , and the results also shows the system to be more sensitive to the error in orientation. Furthermore, the scheme is also applied to robot arm attitude determination, and shows the high possibility for this system developing into an effective external sensor for robot arm controlling. It is expected that this wiimote 3D localization system to have a great potential on inexpensive and precise general indoor localization system.

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Design and performance evaluation of wiimote-based two-dimensional indoor localization systems for indoor mobile robot control

Cited by 13 publications

References 28 publications

A Novel Position and Orientation Sensor for Indoor Navigation Based on Linear CCDs

A Novel Position and Orientation Sensor for Indoor Navigation Based on Linear CCDs

Development of 3D Positioning Scheme by Integration of Multiple Wiimote IR Cameras

Development of General Wiimote 3D Localization Scheme and its Application on Robot Arm Attitude Detection

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