Multipole marker and correlation image sensor for position and pose estimation in sensor networks

In this paper, we propose a novel principle and system of position and pose detection in sensor networks, which consists of: 1) a multipole polarizing reflector attached on a sensor node; 2) a light source behind a rotating polarizer; and 3) a correlation image sensor (CIS). The rotating polarizer generates polarization-modulated light, and the reflector attached on the sensor node generates a characteristic reflecting pattern with singularities (dark spots). We show that the distribution of singular points and the surrounding intensity are related with the range, azimuth, and orientation angles of the reflector. Therefore using CIS, we can decode and obtain the 6D position and pose information simultaneously in realtime. We show a general theory and several basic experiments to examine the practicability of these schemes.