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arXiv · 2210.13031

A geometry method for LED mapping

Junlin Huang·Shangsheng Wen·Weipeng Guan
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Abstract

With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2 system when the decoding result of LED-ID is inaccurate. Subsequently, an enhanced cost function is proposed to optimize the mapping result of LEDs. The average 3-D mapping error (8.5cm) is evaluated with a real-world experiment. This work can be viewed as a preliminary work of visible light positioning systems, offering a way to prevent the labor-intensive manual site surveys of LEDs.

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Junlin Huang, Shangsheng Wen, Weipeng Guan. 2022-10-24. A geometry method for LED mapping. https://arxiv.org/abs/2210.13031

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