Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Kloock, Maximilian; Scheffe, Patrick; Tülleners, Isabelle; Maczijewski, Janis; Kowalewski, Stefan; Alrifaee, Bassam
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 15446
• Page End: 15453
• Publication Date: 2020
• Subjects: Autonomous Mobile Robots -- Multi-vehicle systems -- Localization -- Indoor Positioning; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2367
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3 m and LEDs attached to each vehicle. We reach an accuracy of about 1.1 cm for the position and around 0.6° for the orientation in the mean. Our system is real-time capable with a soft deadline of 20 ms. Moreover, it is robust against changing lighting conditions and reflections.