Geometric Pattern-Based Computer Vision Positioning System

Visible Light Positioning refers to the estimation of position based on the acquisition of images of previously known reference beacons. This work proposes the usage of visible light sources, arranged in a specific geometric pattern, that allows for their identification and the subsequent estimation of the agent’s position with respect to the detected beacon. The light sources are considered to be point sources, which allows having reference light marks at considerable distances. The proposed approach is organized in two stages: the first stage corresponds to the identification of the light sources, and the second stage to the pose estimation of the agent. The algorithm is validated by simulation, testing the accuracy of the system as a function of its distance to the beacon, image resolution and uncertainty in the light sources region of interest. Furthermore, the error propagation of the proposed algorithm is verified.