Novel Visible Light Communication Assisted Perspective-Four-Line Algorithm for Indoor Localization

In this paper, a novel visible light communication (VLC) assisted Perspective-four-Line algorithm (V-P4L) is proposed for indoor localization. The basic idea of V-P4L is to joint the coordinate information obtained by VLC and the geometric information in computer vision for practical indoor localization. In particular, V-P4L first exploits the geometric information to estimate the orientation and coordinate of a single rectangular LED luminaire in the camera coordinate system based on the plane and solid geometry. Then, VLC is used to transmit the world coordinate information of the luminaire to the camera. Next, the position and pose of the camera in the world coordinate system are obtained by the single-view geometry and the linear least square method. Due to the combination of VLC and computer vision, V-P4L only requires a single luminaire for localization and does not rely on the channel model. Therefore, V-P4L is more robust to dust and other factors that interfere visible light signals. Besides, unlike conventional Perspective-n-Line (PnL) algorithms, V-P4L does not require the 3 dimensional (3D)-2 dimensional (2D) correspondences. Simulation results show that for V-P4L the location error is always less than 18 cm and the orientation error is always less than 4.5°.