CoBe-Coded Beacons for Localization, Object Tracking, and SLAM Augmentation

Roman Rabinovich, Ibrahim Jubran, Aaron Wetzler, Ron Kimmel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a novel beacon light coding protocol, which enables fast and accurate identification of the beacons in an image. The protocol is provably robust to a predefined set of detection and decoding errors and does not require any synchronization between the beacons themselves and the optical sensor. A detailed guide is then given for developing an optical tracking and localization system, which is based on the suggested protocol and readily available hardware. Such a system operates either as a standalone system for recovering the six degrees of freedom of fast moving objects, or integrated with existing SLAM pipelines providing them with error-free and easily identifiable landmarks. Based on this guide, we implemented a low-cost positional tracking system which can run in real-time on an IoT board. We evaluate our system's accuracy and compare it to other popular methods which utilize the same optical hardware, in experiments where the ground truth is known. A companion video containing multiple real-world experiments demonstrates the accuracy, speed, and applicability of the proposed system in a wide range of environments and real-world tasks. Open source code is provided to encourage further development of low-cost localization systems integrating the suggested technology at its navigation core.

Original languageAmerican English
Title of host publication2020 IEEE 16th International Conference on Automation Science and Engineering, CASE 2020
PublisherIEEE Computer Society
Pages1367-1374
Number of pages8
ISBN (Electronic)9781728169040
DOIs
StatePublished - Aug 2020
Event16th IEEE International Conference on Automation Science and Engineering, CASE 2020 - Hong Kong, Hong Kong
Duration: 20 Aug 202021 Aug 2020

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2020-August

Conference

Conference16th IEEE International Conference on Automation Science and Engineering, CASE 2020
Country/TerritoryHong Kong
CityHong Kong
Period20/08/2021/08/20

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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