5,895 research outputs found

    An Implementation Approach and Performance Analysis of Image Sensor Based Multilateral Indoor Localization and Navigation System

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    Optical camera communication (OCC) exhibits considerable importance nowadays in various indoor camera based services such as smart home and robot-based automation. An android smart phone camera that is mounted on a mobile robot (MR) offers a uniform communication distance when the camera remains at the same level that can reduce the communication error rate. Indoor mobile robot navigation (MRN) is considered to be a promising OCC application in which the white light emitting diodes (LEDs) and an MR camera are used as transmitters and receiver respectively. Positioning is a key issue in MRN systems in terms of accuracy, data rate, and distance. We propose an indoor navigation and positioning combined algorithm and further evaluate its performance. An android application is developed to support data acquisition from multiple simultaneous transmitter links. Experimentally, we received data from four links which are required to ensure a higher positioning accuracy

    A Survey of Positioning Systems Using Visible LED Lights

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    © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.As Global Positioning System (GPS) cannot provide satisfying performance in indoor environments, indoor positioning technology, which utilizes indoor wireless signals instead of GPS signals, has grown rapidly in recent years. Meanwhile, visible light communication (VLC) using light devices such as light emitting diodes (LEDs) has been deemed to be a promising candidate in the heterogeneous wireless networks that may collaborate with radio frequencies (RF) wireless networks. In particular, light-fidelity has a great potential for deployment in future indoor environments because of its high throughput and security advantages. This paper provides a comprehensive study of a novel positioning technology based on visible white LED lights, which has attracted much attention from both academia and industry. The essential characteristics and principles of this system are deeply discussed, and relevant positioning algorithms and designs are classified and elaborated. This paper undertakes a thorough investigation into current LED-based indoor positioning systems and compares their performance through many aspects, such as test environment, accuracy, and cost. It presents indoor hybrid positioning systems among VLC and other systems (e.g., inertial sensors and RF systems). We also review and classify outdoor VLC positioning applications for the first time. Finally, this paper surveys major advances as well as open issues, challenges, and future research directions in VLC positioning systems.Peer reviewe

    Optical boundaries for LED-based indoor positioning system

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    Overlap of footprints of light emitting diodes (LEDs) increases the positioning accuracy of wearable LED indoor positioning systems (IPS) but such an approach assumes that the footprint boundaries are defined. In this work, we develop a mathematical model for defining the footprint boundaries of an LED in terms of a threshold angle instead of the conventional half or full angle. To show the effect of the threshold angle, we compare how overlaps and receiver tilts affect the performance of an LED-based IPS when the optical boundary is defined at the threshold angle and at the full angle. Using experimental measurements, simulations, and theoretical analysis, the effect of the defined threshold angle is estimated. The results show that the positional time when using the newly defined threshold angle is 12 times shorter than the time when the full angle is used. When the effect of tilt is considered, the threshold angle time is 22 times shorter than the full angle positioning time. Regarding accuracy, it is shown in this work that a positioning error as low as 230 mm can be obtained. Consequently, while the IPS gives a very low positioning error, a defined threshold angle reduces delays in an overlap-based LED IPS

    A New Vehicle Localization Scheme Based on Combined Optical Camera Communication and Photogrammetry

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    The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure algorithm for vehicle positioning is proposed herein without massively modifying the existing transportation infrastructure. For vehicle localization, vehicles on the road are classified into two categories: host vehicles (HVs) are the ones used to estimate other vehicles' positions and forwarding vehicles (FVs) are the ones that move in front of the HVs. The FV transmits modulated data from the tail (or back) light, and the camera of the HV receives that signal using optical camera communication (OCC). In addition, the streetlight (SL) data are considered to ensure the position accuracy of the HV. Determining the HV position minimizes the relative position variation between the HV and FV. Using photogrammetry, the distance between FV or SL and the camera of the HV is calculated by measuring the occupied image area on the image sensor. Comparing the change in distance between HV and SLs with the change in distance between HV and FV, the positions of FVs are determined. The performance of the proposed technique is analyzed, and the results indicate a significant improvement in performance. The experimental distance measurement validated the feasibility of the proposed scheme

    Visible Light Communications towards 5G

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    5G networks have to offer extremely high capacity for novel streaming applications. One of the most promising approaches is to embed large numbers of co-operating small cells into the macro-cell coverage area. Alternatively, optical wireless based technologies can be adopted as an alternative physical layer offering higher data rates. Visible light communications (VLC) is an emerging technology for future high capacity communication links (it has been accepted to 5GPP) in the visible range of the electromagnetic spectrum (~370–780 nm) utilizing light-emitting diodes (LEDs) simultaneously provide data transmission and room illumination. A major challenge in VLC is the LED modulation bandwidths, which are limited to a few MHz. However, myriad gigabit speed transmission links have already been demonstrated. Non line-of-sight (NLOS) optical wireless is resistant to blocking by people and obstacles and is capable of adapting its’ throughput according to the current channel state information. Concurrently, organic polymer LEDs (PLEDs) have become the focus of enormous attention for solid-state lighting applications due to their advantages over conventional white LEDs such as ultra-low costs, low heating temperature, mechanical flexibility and large photoactive areas when produced with wet processing methods. This paper discusses development of such VLC links with a view to implementing ubiquitous broadcasting networks featuring advanced modulation formats such as orthogonal frequency division multiplexing (OFDM) or carrier-less amplitude and phase modulation (CAP) in conjunction with equalization techniques. Finally, this paper will also summarize the results of the European project ICT COST IC1101 OPTICWISE (Optical Wireless Communications - An Emerging Technology) dealing VLC and OLEDs towards 5G networks

    Evaluating indoor positioning systems in a shopping mall : the lessons learned from the IPIN 2018 competition

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    The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) and post-processing (off-site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on-site and two off-site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on-site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off-site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light-weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future

    Low-cost embedded system for relative localization in robotic swarms

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    In this paper, we present a small, light-weight, low-cost, fast and reliable system designed to satisfy requirements of relative localization within a swarm of micro aerial vehicles. The core of the proposed solution is based on off-the-shelf components consisting of the Caspa camera module and Gumstix Overo board accompanied by a developed efficient image processing method for detecting black and white circular patterns. Although the idea of the roundel recognition is simple, the developed system exhibits reliable and fast estimation of the relative position of the pattern up to 30 fps using the full resolution of the Caspa camera. Thus, the system is suited to meet requirements for a vision based stabilization of the robotic swarm. The intent of this paper is to present the developed system as an enabling technology for various robotic tasks
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