Visible Light Dynamic Positioning Method Using Improved Camshift-Kalman Algorithm

Weipeng Guan,Xingjie Zhang,Shangsheng Wen,Zhipeng Liu,Hongyun Xie

doi:10.1109/jphot.2019.2944080

Abstract

There are three critical elements in the visible light positioning (VLP) system: Positioning accuracy, real-time ability and robustness. However, few existing VLP studies consider these three critical elements at the same time. Especially, robustness is usually ignored in VLP system, which has a great influence on positioning performance or even leads to the failure of positioning. Therefore, we propose a novel VLP method based on image sensor (as positioning terminal), using improved Camshift-Kalman algorithm. The proposed algorithm not only combines Camshift algorithm with Kalman filter, but also introduces the Bhattacharyya coefficient innovatively. It can realize high positioning accuracy, good robustness and good real-time ability. Experiments showed that the positioning accuracy of our proposed VLP algorithm was 0.55 cm, which realized high positioning accuracy. Besides, the average processing time per frame was 27.2 ms, which realized good real-time ability. Also, whether the LED was shielded, the interference occurred or the target's velocity changed suddenly, the proposed algorithm still maintained good positioning effect, which showed that it had good robustness.

Highlights

With the emergence of large-scale buildings such as shopping malls, hospitals, nursing homes [1], etc. there is an increasing demand for indoor positioning
3.2.1 The Analysis of Robustness: In order to verify the robustness of the proposed algorithm, different experimental scenes were set: (i) the LED is not shielded; (ii) the LED is shielded with different degrees of area; (iii) interference with modulator tubes as background
We have proposed an improved Camshift-Kalman algorithm for high accuracy and robustness indoor visible light positioning

Summary

Introduction

With the emergence of large-scale buildings such as shopping malls, hospitals, nursing homes [1], etc. there is an increasing demand for indoor positioning. Positioning techniques such as infrared ray (IR), ultrasonic wave, radio-frequency identification (RFID), wireless local area network (WLAN), Bluetooth, ultra-wideband (UWB), etc., have been developed. Each of those fails to meet the expectation due to their inherent flaws, including low positioning accuracy, poor robustness to electromagnetic interference, as well as expensive cost of the devices. Compared with these techniques, visible light positioning (VLP) technology, which has attracted much attention in recent years, shows its great superiority and broad application prospects. VLP technology has broad application prospects in the field of indoor positioning

Methods

Results

Conclusion