A simple indoor self-localization system using infrared LEDs

Author

Hijikata, Shunsuke ; Terabayashi, Kenji ; Umeda, Kazunori

Author_Institution

Sch. of Sci. & Eng., Chuo Univ., Tokyo, Japan

fYear

2009

fDate

17-19 June 2009

Firstpage

1

Lastpage

7

Abstract

In this paper, a simple and robust method for indoor self-localization is proposed. Infrared LEDs are used as landmarks. They are set at known positions and observed by a CCD camera on a mobile robot. As a consequence, self-localization is carried out. The acquisition of the position and orientation of the robot with two or more LEDs is formulated. The nonlinear least squares method is applied. Experiments with a constructed experimental system evaluate the proposed method. Error analysis is performed by simulations. The proposed method realizes a very simple indoor GPS using only several infrared LEDs and a CCD camera.

Keywords

CCD image sensors; Global Positioning System; error analysis; infrared sources; least squares approximations; light emitting diodes; mobile robots; robot vision; CCD camera; error analysis; indoor Global Positioning System; indoor self-localization; infrared LED; mobile robot; nonlinear least squares method; position acquisition; Analytical models; Cameras; Charge coupled devices; Charge-coupled image sensors; Error analysis; Least squares methods; Light emitting diodes; Mobile robots; Robot vision systems; Robustness; GPS; Indoor self-localization; error analysis; image processing; infrared LED;

fLanguage

English

Publisher

ieee

Conference_Titel

Networked Sensing Systems (INSS), 2009 Sixth International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

978-1-4244-6313-8

Electronic_ISBN

978-1-4244-6314-5

Type

conf

DOI

10.1109/INSS.2009.5409955

Filename

5409955