LED Detection and Occlusion Compensation Method for Robust Visible Light Positioning

This paper proposes a light emitting diode (LED) detection and occlusion compensation method (LDOC) for robust visible light positioning (VLP). In the considered system, an image sensor locates itself by capturing LED images on the ceiling. During this process, lighting conditions and potential occlusion can greatly affect the robustness of the VLP system. To tackle this issue, we first use Gamma correction to accurately obtain the LED contour. Then, the convex hull of the contour is extracted to restore the ellipse and its parameters. For the striped image formed by rolling shutter effect, we apply the contrast limited adaptive histogram equalization algorithm and erode operations to obtain a reliable binarized image, and finally compensate for the stripes and decode. Simulation results show that LDOC helps existing VLP algorithms achieve centimeter accuracy even when the contour of LED is 40% occluded to form a randomly shaped concavity.