Indoor localization on depth data and digital-piano decoder algorithm (D-PDA)

In this paper, we focus on the need for indoor localization in disaster situations with power cut off or damaged. Indoor localization is always a problem in the field of the rescue robot. This paper proposes an idea based on depth data from Kinect and Digital-Piano Decoder Algorithm. The depth data can help get the location of the marker in relative robot coordinates and the D-PDA help decode the geographic location of the marker. Then we make the coordinate transformation to get the robot´s location. A stable, accurate Digital-Piano code (D-P code) is presented and the corresponding Digital-Piano Decoder Algorithm (D-PDA) will be elaborated.