2022/03/01 by Jinjie Li, Liang Han, Li, Jinjie +3
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #UAV Applications and Optimization #cs.RO
paper · pdf · doi:10.48550/arxiv.2203.00356
accepted for presentation at ICRA 2022; associated video: https://youtu.be/nOV_zPmYvCs; correct the orientation units in Table 1
openalex publication_date 2022/03/01 · arxiv created 2022/03/13 · arxiv updated 2022/03/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.