Abstract
An indoor positioning fusion sensor composed of a five infrared detector set and one camera is presented in this work. The position of the target is obtained by hyperbolic trilateration from phase-difference measurements with the infrared sensor and by an homography with the camera. Subsequent fusion is carried out with a maximum likelihood estimator. A model is proposed for the infrared and camera observation variances and their propagation to the fusion estimation covariance matrix. The system shows cm-level accuracy in infrared multipath-free conditions and good matching with the model. Real measurements are conducted to assess sensor performance, also compared with Monte Carlo simulations for model validation. The evaluation of the fusion sensor performance is specially focused on its dependence on the camera resolution, tested at three resolution levels.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
