Real-Time Localization and Tracking using Visible Light Communication

In this paper an optical indoor positioning system is proposed, which utilizes modulated LED lights as anchor points, deployed in known positions. The sensor, deployed on the tracked object (e.g. autonomous vehicle), is an ordinary camera facing upwards. The system is able to estimate the position and orientation of the moving object in real-time, based on the camera's image stream, containing images of the anchor points. The paper contains comprehensive analysis on the possible error sources and their effect on the positioning accuracy. Real measurement tests show that the accuracy of the system is in the low centimeter range even if the tracked camera moves with a speed of 1 m/s.