A Vision-Based Ranging Algorithm Combining Monocular Camera and Laser for Indoor Positioning

초록

The core issue for indoor positioning is reducing the ranging error. The traditional Time-of-Flight (ToF) method has errors caused by time error calculation, and the Received Signal Strength Indicator (RSSI) method requires huge calculation and data collection. Moreover, the vision-based binocular ranging method has poor performance in dark environments. Therefore, considering the above weaknesses, we designed a hybrid device based on a Monocular Camera and four Lasers (MC4L), which uses four lasers to mark the target object and record the irradiation spot with a high-definition monocular camera. Due to the angle between the laser emitter and the base, the center point and laser irradiation area will change with distance. We can obtain the corresponding relationship between the irradiated area and real distance by a logarithmic regression algorithm. In addition, we propose a new indoor positioning algorithm based on the MC4L device to control the error within 2.4 cm. © 2023, Korean Institute of Communications and Information Sciences. All rights reserved.

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