Calibration of Visible Light Positioning Systems with a Mobile Robot
1
Department of Mechanical Engineering, KU Leuven, 3000 Leuven, Belgium
2
Department of Electrical Engineering, KU Leuven, 3000 Leuven, Belgium
*
Author to whom correspondence should be addressed.
Academic Editor: Simon Tomažič
Sensors 2021, 21(7), 2394; https://doi.org/10.3390/s21072394
Received: 12 March 2021
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Revised: 26 March 2021
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Accepted: 27 March 2021
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Published: 30 March 2021
(This article belongs to the Special Issue Indoor Positioning and Navigation)
Most indoor positioning systems require calibration before use. Fingerprinting requires the construction of a signal strength map, while ranging systems need the coordinates of the beacons. Calibration approaches exist for positioning systems that use Wi-Fi, radio frequency identification or ultrawideband. However, few examples are available for the calibration of visible light positioning systems. Most works focused on obtaining the channel model parameters or performed a calibration based on known receiver locations. In this paper, we describe an improved procedure that uses a mobile robot for data collection and is able to obtain a map of the environment with the beacon locations and their identities. Compared to previous work, the error is almost halved. Additionally, this approach does not require prior knowledge of the number of light sources or the receiver location. We demonstrate that the system performs well under a wide range of lighting conditions and investigate the influence of parameters such as the robot trajectory, camera resolution and field of view. Finally, we also close the loop between calibration and positioning and show that our approach has similar or better accuracy than manual calibration.
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MDPI and ACS Style
Amsters, R.; Demeester, E.; Stevens, N.; Slaets, P. Calibration of Visible Light Positioning Systems with a Mobile Robot. Sensors 2021, 21, 2394. https://doi.org/10.3390/s21072394
AMA Style
Amsters R, Demeester E, Stevens N, Slaets P. Calibration of Visible Light Positioning Systems with a Mobile Robot. Sensors. 2021; 21(7):2394. https://doi.org/10.3390/s21072394
Chicago/Turabian StyleAmsters, Robin, Eric Demeester, Nobby Stevens, and Peter Slaets. 2021. "Calibration of Visible Light Positioning Systems with a Mobile Robot" Sensors 21, no. 7: 2394. https://doi.org/10.3390/s21072394
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