论文标题
新颖的可见光通信辅助透视四行算法用于室内本地化
Novel Visible Light Communication Assisted Perspective-Four-Line Algorithm for Indoor Localization
论文作者
论文摘要
在本文中，我们提出了一种新颖的可见光通信（VLC）辅助透视量算法（V-P4L），以实施实用的室内定位。 V-P4L的基本思想是与接合VLC和计算机视野，无论LED高度差异如何，都可以实现高精度。特别是，我们首先利用空间域信息来估计基于平面和固体几何形状的摄像机坐标系中单个矩形LED灯具的方向和坐标。然后，基于VLC传输的时域信息和估计的灯具信息，V-P4L可以通过单视文几何理论和线性最小平方（LLS）方法来估计相机的位置和姿势。为了进一步减轻LED之间的高度差异对定位精度的影响，然后我们提出了基于LLS方法和简单优化方法的V-P4L的校正算法。由于时间和空间域信息的组合，V-P4L仅需要一个用于本地化的照明器，而无需限制特征及其投影之间的对应关系。仿真结果表明，对于V-P4L，位置误差始终小于15 cm，并且使用流行的室内灯具始终小于3°。
In this paper, we propose a novel visible light communication (VLC) assisted Perspective-fourLine algorithm (V-P4L) for practical indoor localization. The basic idea of V-P4L is to joint VLC and computer vision to achieve high accuracy regardless of LED height differences. In particular, we first exploit the space-domain information to estimate the orientation and coordinate of a single rectangular LED luminaire in the camera coordinate system based on the plane and solid geometry. Then, based on the time-domain information transmitted by VLC and the estimated luminaire information, V-P4L can estimate the position and pose of the camera by the single-view geometry theory and the linear least square (LLS) method. To further mitigate the effect of height differences among LEDs on localization accuracy, we then propose a correction algorithm of V-P4L based on the LLS method and a simple optimization method. Due to the combination of time- and space-domain information, V-P4L only requires a single luminaire for localization without limitation on the correspondences between the features and their projections. Simulation results show that for V-P4L the position error is always less than 15 cm and the orientation error is always less than 3° using popular indoor luminaires.
