Motion-Tolerant Method for Extracting Spatially Distributed Visible Light IDs

A motion-tolerant method for extracting spatial distribution of visible light IDs is proposed and demonstrated. A visible light ID is observed by a flying drone, and a feature of the ID signal is extracted by processing an image sequence which compensates relative motion between visible light ID emitters and its observer. Motion-induced degradation of estimation accuracy of spatially distributed visible light IDs is mitigated even when the ID signal rate and frame rate of an image sensor mounted on the drone are not high enough to neglect the motion. The proposed method potentially improves robustness of robotic rescues after disasters.