Benefiting from the development of image sensors and the popularity of light-emitting diode (LED) lighting technology, visible light positioning (VLP) technology based on image sensors has ushered in vigorous development and broad prospects, which can provide low-cost and high-accuracy position service. However, the existing approaches require dense LEDs or sensors such as gyroscopes to assist positioning, which limit the area and lower the accuracy of positioning because of the errors from imperfect sensors. In this paper, we propose a simultaneous localization and calibration VLP method based on double coplanar circular LED lights aiming to get rid of the dependence on additional sensors and dense LED transmitters. By the pinhole camera model and the perspective projection of circle, our proposed method extends the available position area and relaxes the required quantity of LED to two. The experiment result shows that our system has a mean 3D positioning accuracy of 7.91cm, a mean angle error of less than 1.6°, and an average latency of 182ms on mobile devices.
Visible light positioning (VLP), benefiting from its high accuracy and low cost, is a promising technology for indoor location-based services. In this article, the theoretical limits and error sources of traditional camera-based VLP systems are analyzed. To solve the problem that multiple LEDs are required and auxiliary sensors are imperfect, a VLP system with a single square LED which can correct the geomagnetic angle obtained from a geomagnetic sensor is proposed. In addition, we conducted a static positioning experiment and a dynamic positioning experiment integrated with pedestrian dead reckoning on an Android platform to evaluate the effectiveness of the proposed method. According to the experimental results, when the horizontal distance between the camera and the center of the LED is less than 120 cm, the average positioning error can be retained within 10 cm and the average positioning time on the mobile phone is 39.64 ms.
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