TELKOMNIKA
Indoor Localization Syst These Figures show
each LED, with and without ex directly in front of the environm
which means thatthe localizat was no problem related to an
the typical size of a LED. neglected.
Figure 4a. Original camer external illumination. Similar
LED and the environment LEDs with a color iden
for the system see Figures4 completely detected since the
verify consistency such as LE the captured information in ord
In these experiments an external illumination which
illuminations to power up each environments since the tests d
4.2. Error characterization
This section describe with direct measurements ar
innovative localization system of 25 series on the real robo
also characterized in these te light sources is evaluated.
Table 1. Error characte
W
Table 1 presents the artificial light the mean error lo
infer that the environment’s lig this scale of accuracy. This m
both conditions as the centroid ISSN: 1693-6930
ystem based on Artificial Landmarks and …. Andry w the detection of the artificial landmark with colo
external illumination. It is possible to confirm that e onment light sources the LEDs are correctly detect
ation system is not affected by external light. Durin an erroneous identification of the SCL, since the
. Therefore, detected clusters of pixels without
era image with ar color between a
nt light sources. Figure 4b. Pre-processed im
color identification of the ima illumination and similar color
and the environment lig dentical to the environment source lights are not ve
4a and 4b. Nevertheless, see Figure 4b the the proposed algorithm has several steps that ma
LED size, distance between adjacent LEDs, valid c order to retrieve a reliable extraction of the landmar
ts we show that the SCL can be placed on the cei ich is an advantage because we can use the powe
ach SCL. This turns the system flexible and more p s did not produce any erroneous localization for the
bes the localization accuracy achieved by this sys are compared in order to characterize the error
m. In the experiments, 50observations were made bot’s pose. The influence of the illumination factor
tests as the accuracy of the system with and wit
terization with and without light sources fluorescen
Position Error m
OrientationError º
With 0.0283
0.645 Without
0.0248 0.705
he error of the proposed system. Although in the r lower obtained was lower, the gap is so small tha
light sources do not have an influence on this sys minor gap is caused by the size of each LED wh
oid position of the LEDs is used to compute the pos
dry Maykol G. Pinto 615
olor identification of even with the SCL
cted and identified, ring the tests, there
e algorithm defines ut proper size are
d image based on mage with external
lor between a LED light sources.
very recommended e yellow LED was
make it possible to color sequence of
ark. eiling, even near to
wer supply of these e practical in indoor
he robot.
system. The results or obtained by this
e per series a total tor in the system is
ithout environment
ent lamp.
the absence of the that it is possible to
system, considering which is different in
ose estimation.
TELKOMNIKA
Vol. 10, No. 4 616
4.3. Comparison with the Sta
