论文标题
使用不可见的投影标签的四摩托器的室内定位
Indoor Localization for Quadrotors using Invisible Projected Tags
论文作者
论文摘要
增强现实（AR）技术已被引入机器人技术领域，以缩小室内和室外环境之间的视觉差距。但是，如果没有卫星导航系统的信号，这些室内AR场景中的飞行实验需要其他准确的定位方法。这项工作提出了一种基于心理视觉的投影标签（IPT）的实时厘米级室内定位方法，要求投影仪作为发件人和带有高速相机作为接收器的二次镜头。该方法包括针对发件人的调制过程，以及对接收器的解调和姿势估计步骤，其中应用了屏幕摄像机通信技术，以使用人类视野属性隐藏信托标签。实验表明，IPT可以在十厘米内实现准确性，速度约为十fps。与AR机器人平台的其他本地化方法相比，IPT仅使用投影仪和高速摄像头作为硬件消耗，并通过省略坐标对准步骤来负担得起。据作者的最佳知识，这是屏幕摄像机通信首次用于AR机器人本地化。
Augmented reality (AR) technology has been introduced into the robotics field to narrow the visual gap between indoor and outdoor environments. However, without signals from satellite navigation systems, flight experiments in these indoor AR scenarios need other accurate localization approaches. This work proposes a real-time centimeter-level indoor localization method based on psycho-visually invisible projected tags (IPT), requiring a projector as the sender and quadrotors with high-speed cameras as the receiver. The method includes a modulation process for the sender, as well as demodulation and pose estimation steps for the receiver, where screen-camera communication technology is applied to hide fiducial tags using human vision property. Experiments have demonstrated that IPT can achieve accuracy within ten centimeters and a speed of about ten FPS. Compared with other localization methods for AR robotics platforms, IPT is affordable by using only a projector and high-speed cameras as hardware consumption and convenient by omitting a coordinate alignment step. To the authors' best knowledge, this is the first time screen-camera communication is utilized for AR robot localization.
