A Concept of a Vision System for Position DeterminationUsing Spatial-Time-Frequency Analysis

Downloads

Authors

Abstract

This paper presents the concept of a vision system designed to determine the position of a camera within a given coordinate system. The system focuses on identifying pulsating light markers in images recorded by the camera. These markers are characterized by specific colors, pulsation frequencies and known locations. Detection is achieved using a spatial-time-frequency processing method developed by the authors. The identified markers serve as input data for a mathematical model that determines the camera’s position within the reference system. The article discusses the theoretical foundations of the proposed system design. The system was subjected to testing to verify its operational accuracy and precision in position determination. The results of these tests are presented. The article concludes with a summary of the work and a discussion of the system’s further development and practical applications.

Keywords:

image processing, spectrum analysis, light markers, localization

References


  1. Liu H.S., Pang G., Positioning beacon system using digital camera and LEDs, IEEE Transactions on Vehicular Technology, 52(2): 406–419, 2003, https://doi.org/10.1109/TVT.2002.808800.

  2. Yoshino M., Haruyama S., Nakagawa M., High-accuracy positioning system using visible LED lights and image sensor, 2008 IEEE Radio and Wireless Symposium, RWS, Orlando, FL, pp. 439–442, 2008, https://doi.org/10.1109/RWS.2008.4463523.

  3. Hassan N.U., Naeem A., Pasha M.A., Jadoon T., Yuen C., Indoor positioning using visible LED lights: A survey, ACM Computing Surveys, 48(2): Article 20, 2015, https://doi.org/10.1145/2835376.

  4. Li Y., He L., Zhang X., Zhu L., Zhang H., Guan Y., Multi-sensor fusion localization of indoor mobile robot, IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 481–486, 2019, https://doi.org/10.1109/RCAR47638.2019.9044006.

  5. Tanaka H., Ultra-high-accuracy visual marker for indoor precise positioning, 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, pp. 2338–2343, 2020, https://doi.org/10.1109/ICRA40945.2020.9196535.

  6. Lu Z., Wu Y., Yang S., Zhang K., Quan Q., Fast and Omnidirectional relative position estimation with circular markers for UAV swarm, IEEE Transactions on Instrumentation and Measurement, 73: 5034911, 2024, https://doi.org/10.1109/TIM.2024.3472903.

  7. Guan W., Wen S., Zhang H., Liu L., A novel three-dimensional indoor localization algorithm based on visual visible light communication using single LED, 2018 IEEE International Conference on Automation, Electronics and Electrical Engineering (AUTEEE), Shenyang, China, pp. 202–208, 2018, https://doi.org/10.1109/AUTEEE.2018.8720798.

  8. Li Y., Zhu S., Yu Y., Wang Z., An improved graph-based visual localization system for indoor mobile robot using newly designed markers, International Journal of Advanced Robotic Systems, 15(2): 1729881418769191, 2018, https://doi.org/10.1177/1729881418769191.

  9. Novák M., Dobesch A., Wilfert O., Janík L., Visible light communication transmitter position detection for use in ITS, Optical Switching and Networking, 33: 161–168, 2019, https://doi.org/10.1016/j.osn.2018.04.002.

  10. Zhuang Y., Hua L., Qi L., Yang J., Cao P., Cao Y., Wu Y., Thompson J., Haas H., A survey of positioning systems using visible LED lights, IEEE Communications Surveys and Tutorials, 20(3): 1963–1988, 2018, https://doi.org/10.1109/COMST.2018.2806558.

  11. Soner B., Karakas M., Noyan U., Sahbaz F., Coleri S., Vehicular visible light positioning for collision avoidance and platooning: A survey, IEEE Transactions on Intelligent Transportation Systems, 25(7): 6328–6344, 2024, https://doi.org/10.1109/TITS.2023.3349160.

  12. Zekavat S.R., Buehrer R.M., Durgin G.D., Lovisolo L., Wang Z., Goh S.T., Ghasemi A., An overview on position location: past, present, future, International Journal of Wireless Information Networks, 28(1): 45–76, 2021, https://doi.org/10.1007/s10776-021-00504-z.

  13. Khan M.N., Jamil M., Gilani S.O., Ahmad I., Uzair M., Omer H., Photo detector-based indoor positioning systems variants: A new look, Computers & Electrical Engineering, 83: 106607, 2020, https://doi.org/10.1016/j.compeleceng.2020.106607.

  14. Rego M., Fonseca P., OCC based indoor positioning system using a smartphone camera, [in:] Santos V., Lau N., Neto P., Lopes A.C. [Eds.], Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC, pp. 31–36, 2021, https://doi.org/10.1109/ICARSC52212.2021.9429782.

  15. Nguyen N.H., Dinh Nguyen Q., Enhanced Bit-Rate Performance for Visible Light Communication Systems Between Led and Mobile Camera, [in:] Jeong S.H., Loc H.D., Fdida S., Le-Ngoc T. [Eds.], Proceedings of Tenth International Conference on Communications and Electronics (ICCE), pp. 544–549, 2024, https://doi.org/10.1109/ICCE62051.2024.10634616.

  16. Zhou Z., Liang B., Cao Y., Zhang M., MPPM spectrum analysis based on PPM, [in:] Proceedings of 14th International Conference on Computer Research and Development (ICCRD), pp. 356–362, 2022, https://doi.org/10.1109/ICCRD54409.2022.9730597.

  17. Das S., Mandal S.K., Spectral Analysis of dimming controlled MH-HPPM for visible light communication, Sixth International Conference on Wireless Communications, Signal Processing and Networking (WiSPNET), pp. 291–296, 2021, https://doi.org/10.1109/WiSPNET51692.2021.9419413.

  18. Bui T.-C., Biagi M., Kiravittaya S., Theoretical analysis of optical spatial multiple pulse position modulation, IEEE Global Communications Conference (GLOBECOM), 2018, https://doi.org/10.1109/GLOCOM.2018.8647138.

  19. Miś P., Szulim P., Analysis of the possibility of using markers emitting pulsating light in the task of localization, Applied Computer Science, 17(1): 26–39, 2021, https://doi.org/10.23743/acs-2021-03.

  20. Miś P., Szulim P., The effect of camera exposure on the results of spatial-frequency processing and the quality of the obtained amplitude images, [in:] Szewczyk R., Zieliński C., Kaliczyńska M. [Eds.], Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques, Springer International Publishing, Cham, pp. 306–316, 2022.

  21. Zhu B., Cheng J., Wang Y., Yan J., Wang J., Three-dimensional VLC positioning based on angle difference of arrival with arbitrary tilting angle of receiver, IEEE Journal on Selected Areas in Communications, 36(1): 8–22, 2018, https://doi.org/10.1109/JSAC.2017.2774435.

  22. Rahman M.H., Sejan M.A.S., Kim J.-J., Chung W.-Y., Reduced tilting effect of smartphone CMOS image sensor in visible light indoor positioning, Electronics (Switzerland), 9(10): 1–19, 2020, https://doi.org/10.3390/electronics9101635.

  23. Hossen M.S., Park Y., Kim K.-D., Performance improvement of indoor positioning using light-emitting diodes and an image sensor for light-emitting diode communication, Optical Engineering, 54(4): 045101, 2015, https://doi.org/10.1117/1.OE.54.4.045101.

  24. Basler ace Classic acA1600-60gc, n.d., https://www.baslerweb.com/en-us/shop/aca1600-60gc/. (accessed on 2024.12.18).

  25. 8.5mm, 200mm-∞ Primary WD, HR Series Fixed Focal Length Lens, n.d., https://www.edmundoptics.com/p/85mm-200mm-infin-primary-wd-hp-series-fixed-focal-length-lens/22903/. (accessed on 2024.12.18).

Most read articles by the same author(s)