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Geometric Pattern-Based Computer Vision Positioning System

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 976))

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Abstract

Visible Light Positioning refers to the estimation of position based on the acquisition of images of previously known reference beacons. This work proposes the usage of visible light sources, arranged in a specific geometric pattern, that allows for their identification and the subsequent estimation of the agent’s position with respect to the detected beacon. The light sources are considered to be point sources, which allows having reference light marks at considerable distances. The proposed approach is organized in two stages: the first stage corresponds to the identification of the light sources, and the second stage to the pose estimation of the agent. The algorithm is validated by simulation, testing the accuracy of the system as a function of its distance to the beacon, image resolution and uncertainty in the light sources region of interest. Furthermore, the error propagation of the proposed algorithm is verified.

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Author information

Authors and Affiliations

  1. Department of Electronics, Telecommunication and Informatics, Aveiro University, Aveiro, Portugal

    Miguel Silva, Miguel Rêgo, Luís Alves & Pedro Fonseca

  2. Instituto de Telecomunicações, Aveiro, Portugal

    Miguel Silva, Miguel Rêgo, Luís Alves & Pedro Fonseca

Authors
  1. Miguel Silva
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  2. Miguel Rêgo
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  3. Luís Alves
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  4. Pedro Fonseca
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Corresponding author

Correspondence to Miguel Silva .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid, Spain

    Manuel Ferre

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Silva, M., Rêgo, M., Alves, L., Fonseca, P. (2024). Geometric Pattern-Based Computer Vision Positioning System. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_2

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