LED-based initialization and navigation

LED´s offer multiuse opportunities related to illumination, communication, and navigation. These features enable reliable feature association for feature aided navigation. We introduce an aided navigation system that estimates the position and pose of the vehicle moving in a 2D plane using LED´s and a high speed camera. No prior knowledge of the vehicle state is required due to initialization at the first time instant that provides measurements of at least two LED´s. The data association problem is solved using the LEDs´ unique IDs. The IDs are modulated respectively onto the LEDs´ illumination and recovered by processing a sequence of images obtained by a high speed camera.