Gene

Quantum mechanics

Robot

Inertial navigation system

Engineering

Single camera

Node (physics)

Robustness (evolution)

Real-time computing

Operating system

Biochemistry

Computer science

Sensor fusion

Accelerometer

Physics

Positioning system

Inertial frame of reference

Indoor positioning system

Robotics

Artificial intelligence

Structural engineering

Chemistry

Inertial measurement unit

Computer vision

IEEE Sensors Journal

Accurate indoor positioning is critical in the field of location-based services and robotics. Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, it is difficult to meet the requirement of multiple LED anchors in range for successful and accurate positioning. In this article, we proposed a loosely-coupled VLP-inertial fusion method for VLP, with an inertial measurement unit (IMU) and rolling shutter camera, to improve positioning robustness under LED shortage/outage. The efficacy of the proposed VLP scheme as well as the robustness under LED outage, handover situation and background light interference, are verified by real-world experiments. The results show that our proposed scheme can provide an average accuracy of 2.1 cm (stationary localization) and the average computational time in low-cost embedded platforms is around 33 ms.

Robust Robotic Localization Using Visible Light Positioning and Inertial Fusion