可见光通信与双目视觉的室内定位

提出一种基于可见光通信与双目视觉测量的高精度室内定位方法,旨在为室内移动机器人提供一种精度高、成本低、不易受干扰的室内定位方案。该方法利用双目视觉传感器对LED光源进行成像测量,利用惯性测量单元传感器记录成像测量的三维姿态角,并通过可见光通信技术获取LED光源的坐标信息,最终计算双目视觉传感器相对于LED光源的三维坐标。根据该方法研制了一款基于可见光通信与成像的定位模块,该模块可以利用单个或两个LED光源进行成像定位。当定位模块采用1280×720分辨率的图像时,在2 m×2 m×3 m室内环境中可实现厘米级移动定位,定位频率大于5 Hz;当利用两个相距60 cm的LED光源进行定位时,在三维方向上的定位误差均小于5 cm,同时能够提供小于1.4°的定向纠正。该方法可以为室内移动机器人提供厘米级定位导航服务。

Indoor positioning based on visible light communication and binocular vision

A high-precision indoor positioning method based on visible light communication and binocular vision measurement is proposed,with the aims of achieving high precision,low cost,and less interference for indoor mobile robots.This method involves the utilization of a binocular vision sensor to perform imaging measurement of a light-emitting diode(LED)light source.In addition,the three-dimensional(3D)attitude angle of the imaging measurement is recorded using an inertial measurement unit sensor,and the coordinate information of the LED light source is acquired through visible light communication technology.Finally,the 3D coordinates of the binocular vision sensor relative to the LED light source are calculated accurately.A positioning module based on the visible light communication and imaging is developed using this method,in which one or two LED light sources can be used for indoor positioning.When a 1280×720 resolution image is adopted in the position module,centimeter-level mobile positioning can be obtained in an indoor environment of 2 m×2 m×3 m,and the positioning frequency exceeds 5 Hz.Meanwhile,when using two LED light sources at a positioning distance of 60 cm,not only can the positioning error in the 3D direction be less than 5 cm,but an orientation correction of less than 1.4°can be realized.This proposed method can be applied to provide centimeter-level positioning and navigation services for indoor mobile robots.