可见光通信与双目视觉的室内定位

孙森震; 冯其强; 王力

doi:10.3788/OPE.20202804.0834

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可见光通信与双目视觉的室内定位

现代应用光学 | 更新时间：2020-08-13

- 可见光通信与双目视觉的室内定位
- Indoor positioning based on visible light communication and binocular vision
- 光学精密工程 2020年28卷第4期页码：834-843
- 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：
  
  [ "孙森震 (1989-)，男，河南南阳人，博士研究生，2013年于河南城建学院获得学士学位，2016年于河南理工大学获得硕士学位，主要从事精密工业测量与可见光定位视觉导航方面的研究。E-mail:sunsenzhen@163.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(41501491);国家重点研究发展计划资助项目(2017YFF0206001)
- DOI：10.3788/OPE.20202804.0834
  中图分类号： TN929.1; U666.11
- 收稿日期：2019-09-09，
  
  修回日期：2019-11-08，
  
  录用日期：2019-11-8，
  
  纸质出版日期：2020-04-15
- 稿件说明：
移动端阅览
孙森震, 冯其强, 王力. 可见光通信与双目视觉的室内定位[J]. 光学精密工程, 2020,28(4):834-843.

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.
孙森震, 冯其强, 王力. 可见光通信与双目视觉的室内定位[J]. 光学精密工程, 2020,28(4):834-843. DOI： 10.3788/OPE.20202804.0834.

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

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