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Pose Estimation for Visible Light Systems Using a Quadrature Angular Diversity Aperture Receiver.

Shengqiang Shen1,2, Jose Miguel Menéndez Sánchez3,4, Shiyin Li1,2

  • 1School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221000, China.

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|July 27, 2022
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Summary
This summary is machine-generated.

This study introduces a new method for calibrating and estimating the pose of quadrature angular diversity aperture (QADA) receivers. The novel approach simplifies calculations and improves accuracy for visible light systems.

Keywords:
Cramér-Rao boundcalibrationpose estimationquadrature angular diversity aperture receivervisible light system

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Area of Science:

  • Robotics
  • Computer Vision
  • Optical Sensing

Background:

  • Quadrature angular diversity aperture (QADA) receivers are used for pose estimation in visible light systems.
  • Existing pose estimation methods for QADA receivers rely on classical computer vision algorithms.
  • These methods face challenges due to the non-linear relationship between the QADA's output and light spot position, and the need for complex calibration procedures.

Purpose of the Study:

  • To address the performance degradation and implementation difficulties in current QADA receiver pose estimation and calibration.
  • To develop a simplified and robust calibration and pose estimation method for QADA receivers.

Main Methods:

  • Investigated the effect of differencing and normalization strategies on the probability density function (PDF) of the QADA receiver.
  • Derived a closed-form approximated PDF to overcome the non-linearity issue.
  • Proposed novel calibration and pose estimation algorithms based on the least squares principle and the approximated PDF.

Main Results:

  • The proposed calibration method is independent of receiver pose information and robust to variations in received power and LED radiation patterns.
  • Derived the Cramér-Rao lower bound for misalignment to benchmark performance and guide SNR/LED count determination.
  • Monte Carlo simulations demonstrated that the proposed pose estimator outperforms the Perspective-n-Point (PnP) algorithm and closely approaches the theoretical bound.

Conclusions:

  • The developed algorithms offer a more effective, efficient, and easier-to-implement solution for QADA receiver pose estimation and calibration.
  • The findings provide a pathway for improved accuracy and reliability in visible light positioning systems.