重庆大学学报2025，Vol.48Issue(1)：45-53,9.DOI:10.11835/j.issn.1000-582X.2023.210
基于简易视觉标签的高精度室内定位技术
High-accuracy indoor location technology using simple visual labels
摘要
Abstract
To achieve a low-cost,high-precision indoor location system,this study designs a method using simple visual labels while balancing computation complexity and practical requirements.Only color and shape features are used for label detection,minimizing both detection complexity and data storage needs.To deal with the issue of nonunique solutions caused by simplified label features,a rapid query and matching method is proposed by incorporating the camera's field of view and the label's azimuth.Furthermore,a pose and position estimation method using a weighted least square algorithm is developed.This method is integrated with an interactive algorithm guided by a designed switching strategy.These techniques strike an effective balance between algorithm complexity and location accuracy.Simulation and experimental results show that the proposed method effectively resolves singularity issues in overdetermined equations and attenuates the negative effects of poorly distributed label groups.Compared with ultra-wideband technology,the proposed approach reduces location error by more than 62％.关键词
室内定位/视觉定位/误差分析/加权最小二乘Key words
indoor location/visual location/error analysis/weighted least squares分类
机械工程引用本文复制引用
熊禹,高锋,马杰..基于简易视觉标签的高精度室内定位技术[J].重庆大学学报,2025,48(1):45-53,9.基金项目
国家重点实验室开放基金(KFY2209) （KFY2209）
汽车协同创新中心揭榜挂帅项目(2022CDJDX-004) （2022CDJDX-004）
重庆市技术创新与应用发展专项(CSTB2022TIAD-KPX0139).Supported by Open Fund of State Key Laboratory(KFY2209),Chongqing Automotive Collaborative Innovation Center(2022CDJDX-004)and Chongqing Technology Innovation and Application Development Project(CSTB2022TIAD-KPX0139). （CSTB2022TIAD-KPX0139）
