A geometry method for LED mapping

TL;DR

This paper introduces a geometry-based method for 3D LED mapping using RGB-D, camera, and odometry data, improving LED map accuracy and reducing manual survey efforts in visible light positioning systems.

Contribution

A novel geometry detection approach combined with an enhanced optimization function for accurate 3D LED mapping using visual odometry.

Findings

Average 3D mapping error of 8.5cm in real-world tests

Method reduces manual LED site survey efforts

Improves accuracy of LED mapping with visual odometry

Abstract

With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2 system when the decoding result of LED-ID is inaccurate. Subsequently, an enhanced cost function is proposed to optimize the mapping result of LEDs. The average 3-D mapping error (8.5cm) is evaluated with a real-world experiment. This work can be viewed as a preliminary work of visible light positioning systems, offering a way to prevent the labor-intensive manual site surveys of LEDs.