Single LED positioning scheme based on angle sensors in robotics

Huang, Linyi; Wen, Shangsheng; Yan, Zihong; Song, Hongzhan; Su, Shuomiao; Guan, Weipeng

doi:10.1364/ao.425744

Cited by 16 publications

(7 citation statements)

References 25 publications

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“…VLC-based localization 3 takes advantage of known data associations conveyed by VLC. Often, such systems use high-speed modulated LEDs which broadcast their unique IDs as location beacons, using photodetectors 4 , 5 or cameras 6 – 8 as reception sensors. Photodetector-based methods 4 , 5 usually require accurate propagation channel modeling to estimate the ranges between the receivers and transmitters, so they are not as accurate and robust as camera-based methods due to the elusiveness of RF signals.…”

Section: Related Workmentioning

confidence: 99%

“…Photodetector-based methods 4 , 5 usually require accurate propagation channel modeling to estimate the ranges between the receivers and transmitters, so they are not as accurate and robust as camera-based methods due to the elusiveness of RF signals. For camera-based systems, 6 – 8 a more accurate pose estimation can be achieved for vision-only methods, which need at least three LED features to fix a 6-DoF pose. However, this is often a demanding requirement, thus limited in real situations.…”

Section: Related Workmentioning

confidence: 99%

“…For the current mainstream, LEDs are retrofitted to be modulated at high speed by the transmitter to broadcast their unique identities via visible light communication (VLC), which will later be recognized by photodetectors 4 , 5 or rolling-shutter cameras 6 – 8 The terminal’s position can be resolved trivially by trilateration or triangulation, given at least three individual LED features are detected concurrently by the receiver. However, if the luminaires are deployed independently without specialized layout, this can be a demanding requirement in practice that is reasonably hard to meet, and we call this a luminaire shortage problem.…”

Section: Introductionmentioning

confidence: 99%

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Indoor visible light localization system using luminaire distribution patterns

Zhang

2023

Opt. Eng.

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High accuracy and low-cost indoor localization has received much attention for the past few years. Visible light (VL) localization, which reuses indoor LED luminaire infrastructure as artificial visual landmarks, has emerged as a promising technology. Using only lights as localization beacons, it can provide highly accurate indoor localization without reconstructing the whole environmental scenario. We propose a localization system that utilizes luminaire distribution patterns on the ceiling as visual landmarks without the costly luminaire circuits as in previous methods. For pattern detection, a unique descriptor for each luminaire cluster is derived through image processing followed by perspective rectification. Then, each pattern's ID in a lookup table is retrieved with earth mover's distance under rotation transformation. Using all individual luminaires in each pattern, our system achieves accurate and robust localization under noise and interference. Furthermore, our system can automatically generate pattern dictionaries of hundreds to thousands of unique IDs resulting in great scalability. Evaluations are conducted through real-world experiments. Compared with previous systems, the proposed method achieves superior performance in terms of detection range, localization, and orientation accuracy. Specifically, our system achieves high average three-dimensional localization accuracy of 2.47 cm and orientation accuracy of 0.87 deg under different heights for the best dictionary setting. Finally, an implementation on a mobile phone demonstrates the potential to run on resource-constrained platforms in real time.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Indoor visible light localization system using luminaire distribution patterns

Zhang

2023

Opt. Eng.

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“…It is worth mentioning that this paper focuses on presenting our innovations in designing the decoding scheme. For a comprehensive understanding of positioning algorithm such as triple, double, or single LEDs positioning calculation algorithm in IS-based VLP systems, we refer readers to previous works [24][25][26][27], which have achieved an average positioning accuracy of 1-4 cm, and our contributions are as follows:…”

Section: Introductionmentioning

confidence: 99%

Universal and Effective Decoding Scheme for Visible Light Positioning Based on Optical Camera Communication

et al. 2021

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As a promising approach to implement indoor positioning, visible light positioning (VLP) based on optical camera communication (OCC) image sensor has attracted substantial attention. However, the decoding schemes of existing VLP systems still face many challenges. First, the transmission channel between transmitters and receivers can be easily affected by environmental changes, resulting in poor thresholding performance. Second, the inherently unsynchronized air transmission channel issue remains a big obstacle for decoding data. The above two problems limit the application of VLP systems, where various mobile devices are used as receivers and the properties of transmission channel are constantly changing with the movement of receivers. In this paper, a universal and effective decoding scheme named pixel-to-bit calculation (PBC) decoding algorithm for VLP systems is proposed and experimentally demonstrated. It includes a Staged Threshold Scheme which provides excellent thresholding performance for different transmission channel conditions, as well as a Synchronous Decoding Operation to automatically synchronize the clock between transmitters and receivers. A decoding rate of 95.62% at the height of 2.73 m is realized in a practical Robotic-based VLP system embedded with our proposed PBC decoding scheme. In addition, experimental results show that the average decoding rate of the proposed PBC decoding scheme reaches 99.9% when applying different transmitters and receivers.

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“…In the indoor VLP technologies, the optical receivers are generally comprised of photo detectors (PD) and image sensors. For the single-LED positioning technologies, the receivers equipped with multiple PDs are designed in [20], [21], and the image sensors with high resolution are exploited to obtain position parameters in [5], [22], [23]. However, recent achievements in high-precision angle sensors have paved the way for the development of the single-PD positioning systems.…”

mentioning

confidence: 99%

Machine Learning Based Visible Light Indoor Positioning With Single-LED and Single Rotatable Photo Detector

et al. 2022

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In recent years, visible light positioning (VLP) systems have attracted considerable attention because they do not require additional infrastructures. However, most existing researches on the VLP ignore the impact of wall diffuse reflection, which can lead to the dramatical decrease of the position accuracy performance near the indoor walls and corners. In this paper, we design an indoor VLP system with one single light-emitting diode (LED) and a rotatable photodetector (PD), and then propose an indoor VLP algorithm based on machine learning (ML) methods with concern for the indoor reflection of the optical propagation. The proposed positioning process is implemented via two stages: area classification and positioning. During the area classification stage, by using the random forest (RF) algorithm, the entire room is divided into one interior area and four wall or corner zones. In the interior area, the rotatable PD is directly used to determine the target location. In the four wall or corner zones, a hybrid positioning algorithm based on the extreme learning machine (ELM) and the density-based spatial clustering of applications with noise (DBSCAN) is developed to improve localization accuracy near the indoor walls and corners. Simulation results show that by using the proposed indoor VLP system with the rotatable PD and the hybrid algorithm, the maximum and averaged positioning errors of wall or corner zones drop from 137.96 cm and 15.63 cm, to 38.34 cm and 1.43 cm, respectively, and the averaged positioning error of the whole room decreases from 11.97 cm to 1.74 cm. Index Terms-Density-based spatial clustering of applications with noise (DBSCAN), extreme learning machine (ELM), Internet of things (IoT), random forest (RF), rotatable PD, single LED, visible light positioning (VLP). I. INTRODUCTIONI N RECENT years, with the blooming of Internet of Things (IoT) technologies [1], there have been gradually increased requirements for the various services based on the location information. In outdoor environments, GPS or Beidou navigation equipment can achieve accurate positioning [2]. However, the indoor GPS signal could be weak or even be blocked due to Manuscript

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Single LED positioning scheme based on angle sensors in robotics

Cited by 16 publications

References 25 publications

Indoor visible light localization system using luminaire distribution patterns

Indoor visible light localization system using luminaire distribution patterns

Universal and Effective Decoding Scheme for Visible Light Positioning Based on Optical Camera Communication

Machine Learning Based Visible Light Indoor Positioning With Single-LED and Single Rotatable Photo Detector

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