Indoor positioning based on visible light communication and binocular vision

Sen-zhen SUN; Qi-qiang FENG; Li WANG

doi:10.3788/OPE.20202804.0834

您当前的位置：

首页 >

文章列表页 >

Indoor positioning based on visible light communication and binocular vision

Modern Applied Optics | 更新时间：2020-08-13

- Indoor positioning based on visible light communication and binocular vision
- Optics and Precision Engineering Vol. 28, Issue 4, Pages: 834-843(2020)
- 作者机构：
  
  中国人民解放军战略支援部队信息工程大学地理空间信息学院，河南郑州 450001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20202804.0834
  CLC： TN929.1; U666.11
- Received：09 September 2019，
  
  Revised：08 November 2019，
  
  Accepted：08 November 2019，
  
  Published：15 April 2020
- 稿件说明：
移动端阅览
Sen-zhen SUN, Qi-qiang FENG, Li WANG. Indoor positioning based on visible light communication and binocular vision[J]. Optics and precision engineering, 2020, 28(4): 834-843.
DOI：

Sen-zhen SUN, Qi-qiang FENG, Li WANG. Indoor positioning based on visible light communication and binocular vision[J]. Optics and precision engineering, 2020, 28(4): 834-843. DOI： 10.3788/OPE.20202804.0834.

摘要

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1 280×720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。

Abstract

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 1 280×720 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.

关键词

Keywords

references

邸凯昌 , 万文辉 , 赵红颖 , 等 . 视觉SLAM技术的进展与应用 . 测绘学报 , 2018 . 47 ( 6 ): 770 - 779 . http://d.old.wanfangdata.com.cn/Periodical/chxb201806010 http://d.old.wanfangdata.com.cn/Periodical/chxb201806010 .

K CH DI , W H WAN , H Y ZHAO , 等 . Progress and applications of visual SLAM . Acta Geodaetica et Cartographica Sinica , 2018 . 47 ( 6 ): 770 - 779 . http://d.old.wanfangdata.com.cn/Periodical/chxb201806010 http://d.old.wanfangdata.com.cn/Periodical/chxb201806010 .

F SHAMSFAKHR , B S BIGHAM , A MOHAMMADI . Indoor mobile robot localization in dynamic and cluttered environments using artificial landmarks . Engineering Computations , 2019 . 36 ( 2 ): 400 - 419 . DOI: 10.1108/EC-03-2018-0151 http://doi.org/10.1108/EC-03-2018-0151 .

许银帆 , 黄星星 , 李荣玲 , 等 . 基于LED可见光通信的室内定位技术研究 . 中国照明电器 , 2014 . ( 4 ): 11 - 15 . DOI: 10.3969/j.issn.1002-6150.2014.04.003 http://doi.org/10.3969/j.issn.1002-6150.2014.04.003 .

Y F XU , X X HUANG , R L LI , 等 . Research on indoor positioning algorithm based on LED visible light communication . China Light & Lighting , 2014 . ( 4 ): 11 - 15 . DOI: 10.3969/j.issn.1002-6150.2014.04.003 http://doi.org/10.3969/j.issn.1002-6150.2014.04.003 .

沈芮 , 张剑 . 基于可见光通信的室内定位方法 . 信息工程大学学报 , 2014 . 15 ( 1 ): 41 - 45 . http://d.old.wanfangdata.com.cn/Periodical/wxtxjs201803005 http://d.old.wanfangdata.com.cn/Periodical/wxtxjs201803005 .

R SHEN , J ZHANG . Indoor location method based on visible light communication . Journal of Information Engineering University , 2014 . 15 ( 1 ): 41 - 45 . http://d.old.wanfangdata.com.cn/Periodical/wxtxjs201803005 http://d.old.wanfangdata.com.cn/Periodical/wxtxjs201803005 .

张晓锋 , 王敏 , 王瑾 . 基于可见光通信室内定位的研究现状与发展 . 激光与光电子学进展 , 2017 . 54 ( 10 ): 100001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jgygdzxjz201710001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jgygdzxjz201710001 .

X F ZHANG , M WANG , J WANG . Research status and development of indoor positioning based on visible light communication . Laser & Optoelectronics Progress , 2017 . 54 ( 10 ): 100001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jgygdzxjz201710001 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=jgygdzxjz201710001 .

吴兴邦 , 文尚胜 , 华珺 . 基于蚁群算法的室内可见光高精度三维定位系统 . 光子学报 , 2017 . 46 ( 12 ): 181 - 194 . http://d.old.wanfangdata.com.cn/Periodical/gzxb201712024 http://d.old.wanfangdata.com.cn/Periodical/gzxb201712024 .

X B WU , SH SH WEN , J HUA . High precision 3D positioning system design using visible light communication based on ant colony algorithm . Acta Photonica Sinica , 2017 . 46 ( 12 ): 181 - 194 . http://d.old.wanfangdata.com.cn/Periodical/gzxb201712024 http://d.old.wanfangdata.com.cn/Periodical/gzxb201712024 .

王鹏飞 , 关伟鹏 , 文尚胜 , 等 . 基于免疫算法的高精度室内可见光三维定位系统 . 光学学报 , 2018 . 38 ( 10 ): 111 - 121 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=gxxb201810015 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=gxxb201810015 .

P F WANG , W P GUAN , SH SH WEN , 等 . High precision indoor visible three-dimensional positioning system based on immune algorithm . Acta Optica Sinica , 2018 . 38 ( 10 ): 111 - 121 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=gxxb201810015 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=gxxb201810015 .

L HUANG , P WANG , Z Y LIU , 等 . Indoor three-dimensional high-precision positioning system with bat algorithm based on visible light communication . Applied Optics , 2019 . 58 ( 9 ): 2226 - 2234 . DOI: 10.1364/AO.58.002226 http://doi.org/10.1364/AO.58.002226 .

许毅钦 , 陈志涛 , 袁涛 , 等 . 室内可见光通信高精度定位系统设计 . 发光学报 , 2019 . 40 ( 1 ): 106 - 114 . http://d.old.wanfangdata.com.cn/Periodical/fgxb201901015 http://d.old.wanfangdata.com.cn/Periodical/fgxb201901015 .

Y Q XU , ZH T CHEN , T YUAN , 等 . Design of high precision positioning system for indoor visible light communication . Chinese Journal of Luminescence , 2019 . 40 ( 1 ): 106 - 114 . http://d.old.wanfangdata.com.cn/Periodical/fgxb201901015 http://d.old.wanfangdata.com.cn/Periodical/fgxb201901015 .

YOSHINO M, HARUYAMA S, NAKAGAWA M. High-accuracy positioning system using visible LED lights and image sensor[C]. 2008 IEEE Radio and Wireless Symposium , 22-24 Jan . 2008, Orlando, FL, USA , 2008: 439-442.

M MOON , S CHOI , J PARK , 等 . Indoor positioning system using LED lights and a dual image sensor . Journal of The Optical Society of Korea , 2015 . 19 ( 6 ): 586 - 591 . DOI: 10.3807/JOSK.2015.19.6.586 http://doi.org/10.3807/JOSK.2015.19.6.586 .

L WEI , H M ZHANG , B Y YU , 等 . High-accuracy indoor positioning system based on visible light communication . Optical Engineering , 2015 . 54 ( 11 ): 110501 DOI: 10.1117/1.OE.54.11.110501 http://doi.org/10.1117/1.OE.54.11.110501 .

管扬 , 孙德栋 , 殷树刚 , 等 . 基于成像通信的高精度可见光室内定位方法 . 中国激光 , 2016 . 43 ( 12 ): 191 - 198 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjg201612025 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjg201612025 .

Y GUAN , D D SUN , SH G YIN , 等 . High precision visible light indoor positioning based on image communication . Chinese Journal of Lasers , 2016 . 43 ( 12 ): 191 - 198 . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjg201612025 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgjg201612025 .

Y Q JI , C X XIAO , J GAO , 等 . A single LED lamp positioning system based on CMOS camera and visible light communication . Optics Communications , 2019 . 443 48 - 54 . DOI: 10.1016/j.optcom.2019.03.002 http://doi.org/10.1016/j.optcom.2019.03.002 .

W P GUAN , X J ZHANG , Y X WU , 等 . High precision indoor visible light positioning algorithm based on double LEDs using CMOS image sensor . Applied Sciences , 2019 . 9 ( 6 ): 1238 DOI: 10.3390/app9061238 http://doi.org/10.3390/app9061238 .

Y X WU , W P GUAN , X J ZHANG , 等 . Visible light positioning system based on CMOS image sensor using particle filter tracking and detecting algorithm . Optics Communications , 2019 . 444 9 - 20 . DOI: 10.1016/j.optcom.2019.03.056 http://doi.org/10.1016/j.optcom.2019.03.056 .

曹天扬 , 蔡浩原 , 方东明 , 等 . 结合图像内容匹配的机器人视觉导航定位与全局地图构建系统 . 光学精密工程 , 2017 . 25 ( 8 ): 2221 - 2232 . http://www.eope.net/CN/abstract/abstract17163.shtml http://www.eope.net/CN/abstract/abstract17163.shtml .

T Y CAO , H Y CAI , D M FANG , 等 . Robot vision system for keyframe global map establishment and robot localization based on graphic content matching . Opt. Precision Eng , 2017 . 25 ( 8 ): 2221 - 2232 . http://www.eope.net/CN/abstract/abstract17163.shtml http://www.eope.net/CN/abstract/abstract17163.shtml .

魏振忠 , 高明 , 张广军 , 等 . 一种光斑图像中心的亚像素提取方法 . 光电工程 , 2009 . 36 ( 4 ): 7 - 12 . DOI: 10.3969/j.issn.1003-501X.2009.04.002 http://doi.org/10.3969/j.issn.1003-501X.2009.04.002 .

ZH ZH WEI , M GAO , G J ZHANG , 等 . Sub-pixel extraction method for the center of light-spot image . Opto-Electronic Engineering , 2009 . 36 ( 4 ): 7 - 12 . DOI: 10.3969/j.issn.1003-501X.2009.04.002 http://doi.org/10.3969/j.issn.1003-501X.2009.04.002 .

张一豪 , 孙冬梅 , 沈玉成 , 等 . 双目视觉测量系统特征点提取与匹配技术研究 . 应用光学 , 2016 . 37 ( 6 ): 866 - 871 . http://d.old.wanfangdata.com.cn/Periodical/yygx201606014 http://d.old.wanfangdata.com.cn/Periodical/yygx201606014 .

Y H ZHANG , D M SUN , Y CH SHEN , 等 . Feature points extraction and matching technology of binocular vision measurement system . Journal of Applied Optics , 2016 . 37 ( 6 ): 866 - 871 . http://d.old.wanfangdata.com.cn/Periodical/yygx201606014 http://d.old.wanfangdata.com.cn/Periodical/yygx201606014 .

王仲 , 操晶晶 , 张立昆 , 等 . 基于图像的轮廓度测量与评定 . 光学精密工程 , 2009 . 17 ( 2 ): 395 - 401 . http://www.eope.net/CN/abstract/abstract8395.shtml http://www.eope.net/CN/abstract/abstract8395.shtml .

ZH WANG , J J CAO , L K ZHANG , 等 . Measurement and evaluation for profile tolerance based on images . Opt. Precision Eng , 2009 . 17 ( 2 ): 395 - 401 . http://www.eope.net/CN/abstract/abstract8395.shtml http://www.eope.net/CN/abstract/abstract8395.shtml .

ZHANG Z Y. Flexible camera calibration by viewing a plane from unknown orientations[C]. Proceedings of the Seventh IEEE International Conference on Computer Vision , 20-27 Sept . 1999, Kerkyra, Greece , 1999: 666-673.

杨剑 , 吕乃光 , 董明利 . 加权最小二乘算法在机器视觉系统中的应用 . 光学精密工程 , 2009 . 17 ( 8 ): 1870 - 1877 . http://d.old.wanfangdata.com.cn/Periodical/gxjmgc200908014 http://d.old.wanfangdata.com.cn/Periodical/gxjmgc200908014 .

J YANG , N G LV , M L DONG . Application of weighted least square method to machine vision system . Opt. Precision Eng , 2009 . 17 ( 8 ): 1870 - 1877 . http://d.old.wanfangdata.com.cn/Periodical/gxjmgc200908014 http://d.old.wanfangdata.com.cn/Periodical/gxjmgc200908014 .

徐宽.融合IMU信息的双目视觉SLAM研究[D].哈尔滨: 哈尔滨工业大学, 2018.

XU K. Research on Binocular Vision SLAM with IMU Information Fusion [D]. Harbin: Harbin Institute of Technology, 2018.(in Chinese)

Views

349

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Vibration vision measurement and wavelet neural network control of flexible hinged plate

Binocular vision SLAM with fused point and line features in weak texture environment

Binocular vision measurement method incorporating one-dimensional probabilistic Hough transform and local Zernike moment

Research on attitude measurement technology of free flying model under window distortion correction

Visible light vehicle lamp signal transmission control device

Related Author

LI Min

LIU Yihong

QIU Zhicheng

ZHANG Zhaoxiang

XU Yuelei

CHEN Xiaoqing

XU Xin

GONG Kun

Related Institution

School of Mechanical and Automotive Engineering， South China University of Technology

National Innovation Institute of Defense Technology， Academy of Military Science

Unmanned System Research Institute， Northwestern Polytechnical University

College of Mechanical Engineering， Anhui University of Technology

Hypervelocity Aerodynamics Institute of China， Aerodynamics Research and Development Center

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰