TL;DR
This paper introduces a robust, fast beacon coding protocol for optical localization and SLAM augmentation, enabling real-time, low-cost, and accurate tracking without synchronization, suitable for diverse environments.
Contribution
The paper proposes a novel beacon coding protocol that is robust to errors and does not require synchronization, along with a practical implementation for real-time localization and SLAM enhancement.
Findings
Achieves high accuracy in real-world experiments
Operates in real-time on low-cost IoT hardware
Improves landmark identification for SLAM systems
Abstract
This paper presents a novel beacon light coding protocol, which enables fast and accurate identification of the beacons in an image. The protocol is provably robust to a predefined set of detection and decoding errors, and does not require any synchronization between the beacons themselves and the optical sensor. A detailed guide is then given for developing an optical tracking and localization system, which is based on the suggested protocol and readily available hardware. Such a system operates either as a standalone system for recovering the six degrees of freedom of fast moving objects, or integrated with existing SLAM pipelines providing them with error-free and easily identifiable landmarks. Based on this guide, we implemented a low-cost positional tracking system which can run in real-time on an IoT board. We evaluate our system's accuracy and compare it to other popular methods…
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