论文标题
LED映射的几何方法
A geometry method for LED mapping
论文作者
论文摘要
通过RGB-D摄像机，工业摄像头和车轮里程表的输入，在这封信中，我们提出了一种基于几何的检测方法，当LED-ID-ID结果的解码结果是不含量的，可以借助Orb-Slam2系统的视觉循环算法获得3D调制的LED映射。随后，提出了增强的成本函数，以优化LED的映射结果。通过现实世界实验评估平均3-D映射误差（8.5厘米）。这项工作可以视为可见光定位系统的初步工作，提供了一种防止LED的劳动密集型手动现场调查的方法。
With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2 system when the decoding result of LED-ID is inaccurate. Subsequently, an enhanced cost function is proposed to optimize the mapping result of LEDs. The average 3-D mapping error (8.5cm) is evaluated with a real-world experiment. This work can be viewed as a preliminary work of visible light positioning systems, offering a way to prevent the labor-intensive manual site surveys of LEDs.
