Visible Light Communication-Based Vehicle-to-Vehicle Tracking Using CMOS Camera

Abstract

This paper presents a visible light-communication-based vehicle-to-vehicle tracking system using a new positioning algorithm and modified version of the Kalman filter. In this system, LED head and tail lamps on the vehicles are used to transmit the positioning signals to other vehicles. Two CMOS dashboard cameras on each vehicle are used to receive these signals. From the geometric relationship between two cameras and the images of LEDs captured by these two cameras, the instantaneous position of the target vehicle can be determined, given that at least one LED of the target vehicle is in the view frame of the two cameras. The discrete positioning result always contains unavoidable errors, which consist of systematic errors caused by the CMOS rolling shutter artifact and the weak spatial separability of the sensor, and other random errors. The contribution of this paper is twofold. First, a new positioning algorithm with two compensation mechanisms is proposed to eliminate systematic errors. Second, a modified Kalman filter is proposed to filter out random errors to achieve a smooth and accurate tracking result for the vehicle position. The performance of the system is verified through simulations.INDEX TERMS Visible light communication, vehicle, tracking, camera, Kalman filter.

Demo

“…Currently, our model can compute the relative locations in a two-dimensional space and we envision that it can be applied in applications for manned and unmanned vehicles such as motorbikes and robots. [33,130,[144][145][146].…”

“…Among other solutions, LOS and NLOS identification algorithms make use of multiple LEDs and PDs [163,164,174], which is a condition that may not be available. Some others works opt to use image sensors for canceling the effect of reflections [145,146], but it comes with much higher energy consumption cost and lower data rate of communication.…”

An LED Detection and Recognition Method Based on Deep Learning in Vehicle Optical Camera Communication

“…Therefore, OCC is suitable for the V2V communication field [3]. In the OCC system, Light Emitting Diodes (LEDs) are used as transmitters [4], which are common illuminating devices [5]. Each LED can be individually modulated, which can significantly improve communication speed.…”

A Taillight Matching and Pairing Algorithm for Stereo-Vision-Based Nighttime Vehicle-to-Vehicle Positioning

“…However, it is extremely difficult to directly detect a vehicle at nighttime, since the appearance of the vehicle may become hardly observable due to the inadequate lighting conditions. Instead, most papers focus on detecting the most prominent part of the vehicle at nighttime (vehicle lighting), which is often a taillight [8][9][10][11]. In these papers, they use the stereo vision system, which includes two cameras, on the host vehicle to capture a real scene from two different views.…”