Fiducial marker indoor localization with Artificial Neural Network

A vision based positioning system could be categorized into two groups. One analyzes an environment´s scenery by matching the inputs with imaginary database to find the optimum result. The other uses fiduciary markers. In proposed method, the system uses fiduciary markers with a capital alphabet in it. When the known size fiduciary marker is captured by a camera, by using homography transformation, the 6-DOF camera pose with respect to the marker´s local coordinate can be calculated. To recognize the character in the marker, Artificial Neural Network (ANN) with back-propagation training method is used. 12 unique features of a character are defined and used as inputs of ANN. Since more than 95% recognition rate is achieved in testing phase, the Optical Character Recognition (OCR) with ANN could be used as a marker detection method. The localization experimental result with the fiduciary marker shows that the proposed method could be a solution for indoor localization.