Abstract
An importance of accurate position estimation in the field of mobile robot navigation cannot be overemphasized. In case of an outdoor environment, a global positioning system (GPS) is widely used to measure the position of moving objects. However, the satellite based GPS does not work indoors. In this paper, we propose a novel indoor positioning system (IPS) that uses calibrated camera sensors and 3D map information. The 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 the moving object is detected from multiple camera views. We evaluate the proposed IPS in a real environment in a wireless camera sensor network. The results demonstrate that the proposed IPS based on the camera sensor network can provide accurate position information of moving objects.
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Acknowledgements
This work was in part supported by Tough Robotics Challenge, ImPACT Program (Impulsing Paradigm Change through Disruptive Technologies Program).
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Ji, Y., Yamashita, A., Asama, H. (2017). Indoor Positioning System Based on Distributed Camera Sensor Networks for Mobile Robot. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_80
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DOI: https://doi.org/10.1007/978-3-319-48036-7_80
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