School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China.
School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China.
Sensors (Basel). 2019 Mar 4;19(5):1094. doi: 10.3390/s19051094.
Visible light positioning (VLP) is a promising technology for indoor navigation. However, most studies of VLP systems nowadays only focus on positioning accuracy, whereas robustness and real-time ability are often overlooked, which are all indispensable in actual VLP situations. Thus, we propose a novel VLP method based on mean shift (MS) algorithm and unscented Kalman filter (UKF) using image sensors as the positioning terminal and a Light Emitting Diode (LED) as the transmitting terminal. The main part of our VLP method is the MS algorithm, realizing high positioning accuracy with good robustness. Besides, UKF equips the mean shift algorithm with the capacity to track high-speed targets and improves the positioning accuracy when the LED is shielded. Moreover, a LED-ID (the identification of the LED) recognition algorithm proposed in our previous work was utilized to locate the LED in the initial frame, which also initialized MS and UKF. Furthermore, experiments showed that the positioning accuracy of our VLP algorithm was 0.42 cm, and the average processing time per frame was 24.93 ms. Also, even when half of the LED was shielded, the accuracy was maintained at 1.41 cm. All these data demonstrate that our proposed algorithm has excellent accuracy, strong robustness, and good real-time ability.
可见光定位（VLP）是一种很有前途的室内导航技术。然而，目前大多数 VLP 系统的研究仅关注定位精度，而忽略了鲁棒性和实时性，而这些在实际 VLP 情况下都是不可或缺的。因此，我们提出了一种新的基于均值漂移（MS）算法和无迹卡尔曼滤波（UKF）的 VLP 方法，该方法使用图像传感器作为定位终端，发光二极管（LED）作为发射终端。我们的 VLP 方法的主要部分是 MS 算法，该算法实现了高定位精度和良好的鲁棒性。此外，UKF 为均值漂移算法配备了跟踪高速目标的能力，并在 LED 被遮挡时提高了定位精度。此外，我们之前的工作中提出了一种 LED-ID（LED 识别）识别算法，用于在初始帧中定位 LED，同时也初始化了 MS 和 UKF。此外，实验表明，我们的 VLP 算法的定位精度为 0.42cm，每帧的平均处理时间为 24.93ms。即使 LED 被遮挡一半，精度仍保持在 1.41cm。所有这些数据表明，我们提出的算法具有出色的准确性、强大的鲁棒性和良好的实时性。
