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    Area of Science:

    • Robotics
    • Computer Vision
    • Indoor Localization

    Background:

    • Visible Light Positioning (VLP) offers high accuracy for indoor localization by utilizing existing lighting infrastructure.
    • Traditional VLP systems often require multiple LEDs, limiting their applicability in real-world scenarios.
    • The need for robust and accurate indoor robotic localization persists, especially in dynamic environments.

    Purpose of the Study:

    • To propose and validate a single-LED VLP system for indoor robotic localization.
    • To enhance the robustness and accuracy of VLP systems by relaxing the multi-LED requirement.
    • To investigate effective visual-inertial message synchronization methods for improved positioning.

    Main Methods:

    • Development of a single-LED VLP system integrating an image sensor and an angle sensor.
    • Implementation of two visual-inertial message synchronization techniques for data packet matching.
    • Experimental comparison of various single-LED VLP configurations in a real-world environment.

    Main Results:

    • The proposed single-LED VLP system achieved an average positioning accuracy of 2.47 cm.
    • The system demonstrated robustness against LED shortages, handover situations, and background light interference.
    • Low-cost embedded platforms processed data with an average computational time of 0.184 seconds.

    Conclusions:

    • The single-LED VLP system effectively overcomes the limitations of multi-LED VLP, enabling reliable indoor localization.
    • The proposed visual-inertial synchronization methods improve the accuracy and robustness of continuous robot pose estimation.
    • This research provides a practical and efficient solution for indoor robotic localization using existing lighting infrastructure.