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Cost-effective camera based ground truth for indoor localization

: Becker, Daniel; Thiele, Fabian; Sawade, Oliver; Radusch, Ilja

Postprint urn:nbn:de:0011-n-3666354 (1.0 MByte PDF)
MD5 Fingerprint: 567396af51e1561bd0e6771e926d8086
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Created on: 17.11.2015

Institute of Electrical and Electronics Engineers -IEEE-; American Society of Mechanical Engineers -ASME-:
IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2015. Vol.1 : Busan, South Korea, 7 - 11 July 2015
Piscataway, NJ: IEEE, 2015
ISBN: 978-1-4673-9107-8
ISBN: 978-1-4673-9108-5
International Conference on Advanced Intelligent Mechatronics (AIM) <2015, Busan>
Conference Paper, Electronic Publication
Fraunhofer FOKUS ()

One of the key requirements for the evaluation of indoor localization systems is an accurate and reliable ground truth. Existing ground truth systems are often expensive due to high hardware cost and complex deployment. In this work, we present a simple yet highly accurate approach for a cost-effective ground truth system based on off-the-shelf infrastructure cameras and printable markers. We developed a marker detection algorithm and systematic 3-layer projection approach between multiple coordinate systems which achieves a median accuracy of 0.48cm, 0.05 degrees and a minimum accuracy of 0.75cm, 0.27 degrees for 2D position and orientation.