Indoor localization on depth data and digital-piano decoder algorithm (D-PDA)

Author

Juan Zhang ; Gu, Jhen-Fong ; Huayan Pu ; Hengli Liu ; Jun Luo ; Chaojiong Huang ; Hualin Zhu

Author_Institution

Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China

fYear

2014

fDate

28-30 July 2014

Firstpage

244

Lastpage

249

Abstract

In this paper, we focus on the need for indoor localization in disaster situations with power cut off or damaged. Indoor localization is always a problem in the field of the rescue robot. This paper proposes an idea based on depth data from Kinect and Digital-Piano Decoder Algorithm. The depth data can help get the location of the marker in relative robot coordinates and the D-PDA help decode the geographic location of the marker. Then we make the coordinate transformation to get the robot´s location. A stable, accurate Digital-Piano code (D-P code) is presented and the corresponding Digital-Piano Decoder Algorithm (D-PDA) will be elaborated.

Keywords

decoding; path planning; radionavigation; rescue robots; D-P code; D-PDA; Kinect; depth data; digital-piano decoder algorithm; disaster situations; geographic location; indoor localization; relative robot coordinates; rescue robot; Decoding; Inertial navigation; Microprocessors; Radiofrequency identification; Robot kinematics; Robot sensing systems; D-P code; D-PDA; Indoor location; depth data;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932661

Filename

6932661