Version 1
: Received: 27 May 2019 / Approved: 29 May 2019 / Online: 29 May 2019 (04:45:00 CEST)
How to cite:
Martín-Gorostiza, E.; García-Garrido, M.Á.; Pizarro, D.; Salido Monzú, D.; Torres, P. An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors. Preprints2019, 2019050343. https://doi.org/10.20944/preprints201905.0343.v1
Martín-Gorostiza, E.; García-Garrido, M.Á.; Pizarro, D.; Salido Monzú, D.; Torres, P. An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors. Preprints 2019, 2019050343. https://doi.org/10.20944/preprints201905.0343.v1
Martín-Gorostiza, E.; García-Garrido, M.Á.; Pizarro, D.; Salido Monzú, D.; Torres, P. An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors. Preprints2019, 2019050343. https://doi.org/10.20944/preprints201905.0343.v1
APA Style
Martín-Gorostiza, E., García-Garrido, M.Á., Pizarro, D., Salido Monzú, D., & Torres, P. (2019). An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors. Preprints. https://doi.org/10.20944/preprints201905.0343.v1
Chicago/Turabian Style
Martín-Gorostiza, E., David Salido Monzú and Patricia Torres. 2019 "An Indoor Positioning Approach Based on Fusion of Cameras and Infrared Sensors" Preprints. https://doi.org/10.20944/preprints201905.0343.v1
Abstract
A method for infrared and cameras sensor fusion, applied to indoor positioning in intelligent spaces, is proposed in this work. The fused position is obtained with a maximum likelihood estimator from infrared and camera independent observations. Specific models are proposed for variance propagation from infrared and camera observations (phase shifts and image respectively) to their respective position estimates and to the final fused estimation. Model simulations are compared with real measurements in a setup designed to validate the system. The difference between theoretical prediction and real measurements is between 0.4 cm (fusion) and 2.5 cm (camera), within a 95% confidence margin. The positioning precision is in the cm level (sub-cm level can be achieved at most tested positions) in a 4x3 m locating cell with 5 infrared detectors on the ceiling and one single camera, at distances from target up to 5 m and 7 m respectively. Due to the low cost system design and the results observed, the system is expected to be feasible and scalable to large real spaces.
Engineering, Electrical and Electronic Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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