General Dual Wiimote 3D Localization Scheme: Sensitivity Analysis and Its Application on Robot Arm Attitude Detection

Abstract

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 been satisfied. In this work, based on our previous research, we propose a layout to extend the sensing region to cover the entire indoor space by deploying many wiimote 3D pairs and make sure at least 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, deployment of wiimote cameras requires higher accuracy in orientation when angles between coordinates of both cameras are 90° , and tolerance in position error decreases when angles between both cameras is further from 90°. 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.