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...

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Detalles Bibliográficos
Autores: Aparicio Esteve, Elena|||0000-0001-7886-312X, Ureña Ureña, Jesús|||0000-0003-1408-6039, Hernández Alonso, Álvaro|||0000-0001-9308-8133, Pizarro Pérez, Daniel|||0000-0003-0622-4884, Moltó Orozco, David|||0000-0002-2790-3758
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
id ES_45cd41d35b07ac348ce253e8124afdfc
oai_identifier_str oai:ebuah.uah.es:10017/57885
network_acronym_str ES
network_name_str España
repository_id_str
dc.title.none.fl_str_mv Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
title Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
spellingShingle Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
Aparicio Esteve, Elena|||0000-0001-7886-312X
Infrared positoning
QADA sensor
Pose estimation
PnP
Electrónica
Electronics
title_short Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
title_full Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
title_fullStr Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
title_full_unstemmed Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
title_sort Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver
dc.creator.none.fl_str_mv Aparicio Esteve, Elena|||0000-0001-7886-312X
Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Pizarro Pérez, Daniel|||0000-0003-0622-4884
Moltó Orozco, David|||0000-0002-2790-3758
author Aparicio Esteve, Elena|||0000-0001-7886-312X
author_facet Aparicio Esteve, Elena|||0000-0001-7886-312X
Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Pizarro Pérez, Daniel|||0000-0003-0622-4884
Moltó Orozco, David|||0000-0002-2790-3758
author_role author
author2 Ureña Ureña, Jesús|||0000-0003-1408-6039
Hernández Alonso, Álvaro|||0000-0001-9308-8133
Pizarro Pérez, Daniel|||0000-0003-0622-4884
Moltó Orozco, David|||0000-0002-2790-3758
author2_role author
author
author
author
dc.subject.none.fl_str_mv Infrared positoning
QADA sensor
Pose estimation
PnP
Electrónica
Electronics
topic Infrared positoning
QADA sensor
Pose estimation
PnP
Electrónica
Electronics
description 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.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-09-30
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/57885
https://dx.doi.org/10.3390/s21196537
url http://hdl.handle.net/10017/57885
https://dx.doi.org/10.3390/s21196537
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-105470RA-C33 MEJORANDO Y FOMENTANDO LA VIDA ACTIVA Y BIENESTAR DE LAS PERSONAS CON DEMENCIA Y DETERIORO COGNITIVO LEVE MEDIANTE EL USO DE TECNICAS DE LOCALIZACION
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-095168-B-C51 SISTEMAS DE POSICIONAMIENTO LOCAL: ENFOQUE HOLISTICO DESDE LAS TECNOLOGIAS BASE HASTA LAS APLICACIONES
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-115995RB-I00 TECNICAS DE APRENDIZAJE PARA RESOLVER LA RECONSTRUCCION Y REGISTRO DEFORMABLES APLICADOS A IMAGENES DE LAPAROSCOPIA
UAH Not available CM-JIN-2019-043
UAH Not available CM-JIN-2019-038
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Not available PEJ2018-003459-A
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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spelling Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA ReceiverAparicio Esteve, Elena|||0000-0001-7886-312XUreña Ureña, Jesús|||0000-0003-1408-6039Hernández Alonso, Álvaro|||0000-0001-9308-8133Pizarro Pérez, Daniel|||0000-0003-0622-4884Moltó Orozco, David|||0000-0002-2790-3758Infrared positoningQADA sensorPose estimationPnPElectrónicaElectronicsThe 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.Agencia Estatal de InvestigaciónUniversidad de AlcaláMDPI20212021-09-30journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10017/57885https://dx.doi.org/10.3390/s21196537reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-105470RA-C33 MEJORANDO Y FOMENTANDO LA VIDA ACTIVA Y BIENESTAR DE LAS PERSONAS CON DEMENCIA Y DETERIORO COGNITIVO LEVE MEDIANTE EL USO DE TECNICAS DE LOCALIZACIONAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 RTI2018-095168-B-C51 SISTEMAS DE POSICIONAMIENTO LOCAL: ENFOQUE HOLISTICO DESDE LAS TECNOLOGIAS BASE HASTA LAS APLICACIONESAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-115995RB-I00 TECNICAS DE APRENDIZAJE PARA RESOLVER LA RECONSTRUCCION Y REGISTRO DEFORMABLES APLICADOS A IMAGENES DE LAPAROSCOPIAUAH Not available CM-JIN-2019-043UAH Not available CM-JIN-2019-038Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Not available PEJ2018-003459-Aopen accesshttp://purl.org/coar/access_right/c_abf2Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/578852026-06-18T11:13:07Z
score 15,301603

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