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A simple indoor self-localization system using infrared LEDs

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3 Author(s)
Shunsuke Hijikata ; Course of Precision Engineering, School of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan ; Kenji Terabayashi ; Kazunori Umeda

In this paper, a simple and robust method for indoor self-localization is proposed. Infrared LEDs are used as landmarks. They are set at known positions and observed by a CCD camera on a mobile robot. As a consequence, self-localization is carried out. The acquisition of the position and orientation of the robot with two or more LEDs is formulated. The nonlinear least squares method is applied. Experiments with a constructed experimental system evaluate the proposed method. Error analysis is performed by simulations. The proposed method realizes a very simple indoor GPS using only several infrared LEDs and a CCD camera.

Published in:

Networked Sensing Systems (INSS), 2009 Sixth International Conference on

Date of Conference:

17-19 June 2009