Visible Light Communication Assisted Perspective Circle and Arc Algorithm for Indoor Positioning

This paper proposes a visible light communication (VLC) assisted perspective circle and arc algorithm (V-PCA) for indoor positioning. In the considered model, the coordinate information obtained via VLC and the geometric information of circle feature are jointly used for indoor positioning. In particular, V-PCA first designs a space-time coding model based on VLC, which can help determine the center and a mark point of the circular luminaire on the image plane. It also transmits the world coordinate information of the luminaire to the camera through the activated LEDs. Then, based on the plane and solid geometry, the geometric information of circular feature is exploited to estimate the orientation and the coordinate of the luminaire in the camera coordinate system. Finally, the pose and the location of the camera in the world coordinate system are obtained by the single-view geometry. V-PCA can achieve accurate positioning without tilting angle limitation and inertial measurement unit for the receiver. Simulation results show that the proposed indoor positioning algorithm can achieve a 95th percentile positioning accuracy of around 10 cm.