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

TL;DR

This paper presents an implementation and performance analysis of an indoor localization system using camera-based optical communication with mobile robots, focusing on accuracy and data rate improvements.

Contribution

It introduces a combined navigation and positioning algorithm using camera-based OCC and evaluates its performance with a developed Android application.

Findings

Received data from four links for higher accuracy

Achieved promising positioning accuracy in indoor environments

Demonstrated effective data acquisition from multiple transmitters

Abstract

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.