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January 01, 2020 article Open access Aachen paper

Vision-Based Real-Time Indoor Positioning System for Multiple Vehicles

IFAC-PapersOnLine, vol. 53, pp. 15446–15453

DOI: 10.1016/j.ifacol.2020.12.2367 Full text (OA) OpenAlex

Abstract

We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3 m and LEDs attached to each vehicle. We reach an accuracy of about 1.1 cm for the position and around 0.6° for the orientation in the mean. Our system is real-time capable with a soft deadline of 20 ms. Moreover, it is robust against changing lighting conditions and reflections.

Authors 6

  1. Maximilian Kloock corresponding Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

    RWTH Aachen University

  2. Patrick Scheffe Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

  3. Isabelle Tülleners Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

  4. Janis Maczijewski Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

  5. Stefan Kowalewski Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

  6. Bassam Alrifaee Aachen Chair for Embedded Software

    RWTH Aachen University

    Affiliation as printed

    Chair for Embedded Software, RWTH Aachen University, 52074 Aachen, Germany

Cited by 27 stored of 26

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References 23