Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on LED lighting, transmitted from a set of beacons to a receive...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universidad de Alcalá (UAH) |
| Repositorio: | e_Buah Biblioteca Digital Universidad de Alcalá |
| Idioma: | inglés |
| OAI Identifier: | oai:ebuah.uah.es:10017/57885 |
| Acceso en línea: | http://hdl.handle.net/10017/57885 https://dx.doi.org/10.3390/s21196537 |
| Access Level: | acceso abierto |
| Palabra clave: | Infrared positoning QADA sensor Pose estimation PnP Electrónica Electronics |
| Sumario: | The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on LED lighting, transmitted from a set of beacons to a receiver. The receiver is based on a quadrant photodiode angular diversity aperture (QADA) plus an aperture placed over it. This configuration can be modelled as a perspective camera, where the image position of the transmitters can be used to recover the receiver?s 3D pose. This process is known as the perspective-n-point (PnP) problem, which is well known in computer vision and photogrammetry. This work investigates the use of different state-of-the-art PnP algorithms to localize the receiver in a large space of 2 2m2 based on four co-planar transmitters and with a distance from transmitters to receiver up to 3.4 m. Encoding techniques are used to permit the simultaneous emission of all the transmitted signals and their processing in the receiver. In addition, correlation techniques (match filtering) are used to determine the image points projected from each emitter on the QADA. This work uses Monte Carlo simulations to characterize the absolute errors for a grid of test points under noisy measurements, as well as the robustness of the system when varying the 3D location of one transmitter. The IPPE algorithm obtained the best performance in this configuration. The proposal has also been experimentally evaluated in a real setup. The estimation of the receiver's position at three particular points for roll angles of the receiver of g ={0º, 120º, 210º and 300º} using the IPPE algorithm achieves average absolute errors and standard deviations of 4.33 cm, 3.51cm and 28.90 cm; and 1.84 cm, 1.17cm and 19.80cm in the coordinates x, y and z, respectively. These positioning results are in line with those obtained in previous work using triangulation techniques but with the addition that the complete pose of the receiver (x, y, z, a, b, g) is obtained in this proposal. |
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