Image processing based indoor localization system

Author

KilincÌ§, Orkun ; KuÌˆcÌ§uÌˆkyildiz, GuÌˆrkan ; Karakaya, Suat ; Ocak, Hasan

Author_Institution

Mekatronik Muhendisligi, Kocaeli Univ., Kocaeli, Turkey

fYear

2014

fDate

23-25 April 2014

Firstpage

1654

Lastpage

1657

Abstract

In this study, image processing based low cost indoor localization system was developed. Image processing algorithm was developed in C programming language and Open CV image processing library. Frames were captured by a USB camera which was designed for operating at 850 nm wave length to eliminate environmental disturbances. A narrow band pass filter was integrated to camera in order to detect retro reflective labels only. Retro reflective labels were placed ceiling of indoor area with pre-determined equal spaced grids. Approximate location of mobile robot was obtained by label identity and exact location of mobile robot was obtained with detected label´s position at image coordinate system. Developed system was tested on a mobile robot platform and it was observed that system is operating successfully in real time.

Keywords

C language; band-pass filters; cameras; control engineering computing; image processing; image sensors; mobile robots; peripheral interfaces; position measurement; C programming language; USB camera; environmental disturbance elimination; image coordinate system; image processing algorithm; indoor localization system; label position detection; mobile robot location; narrow band pass filter; open CV image processing library; pre-determined equal spaced grid; retroreflective label detection; wavelength 850 nm; Conferences; Image processing; Mobile robots; Robot kinematics; Robot sensing systems; Signal processing; image processing; indoor localization; real time;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2014 22nd

Conference_Location

Trabzon

Type

conf

DOI

10.1109/SIU.2014.6830564

Filename

6830564