Paper Info
Title
Ultra-High-Accuracy Visual Marker for Indoor Precise Positioning.
Abstract
Indoor positioning technology is essential for indoor mobile robots and drones. However, there has never been a general-purpose technology or infrastructure that enables indoor positioning with an accuracy of less than 10 cm. We have developed an attitude measurement method using multiple dynamic moires with a lenticular lens and developed an ultra- high-accuracy visual marker with an attitude estimation error of less than 0.1°. We also developed a calculation method that minimizes the marker position error by reminimizing reprojection error using its good attitude accuracy. We proved that accurate local positioning with a position error of about 1 cm in a marker coordinate system is possible even when a marker is shot from a distance of 10 m. In addition, a demonstration test was performed in a public space, and it was shown that high-accuracy global positioning with a position error of about 10 cm is possible.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9196535
ICRA
DocType
Volume
Issue
Conference
2020
1
Citations 
PageRank 
References 
0
0.34
2
Authors
1
Name
Order
Citations
PageRank
Hideyuki Tanaka1258.77