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http://dx.doi.org/10.5302/J.ICROS.2016.16.0079

Indoor Positioning System Based on Camera Sensor Network for Mobile Robot Localization in Indoor Environments  

Ji, Yonghoon (Department of Precision Engineering, The University of Tokyo)
Yamashita, Atsushi (Department of Precision Engineering, The University of Tokyo)
Asama, Hajime (Department of Precision Engineering, The University of Tokyo)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.11, 2016 , pp. 952-959 More about this Journal
Abstract
This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.
Keywords
GPS (Global Positioning System); IPS (Indoor Positioning System); camera network; mobile robot localization;
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Times Cited By KSCI : 3  (Citation Analysis)
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