Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneousl...Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneously.There are two problems:1)the hybrid systems are difficult to extract distinguishable positioning beacon features without affecting communication performance,2)in the hybrid systems,the lost data bits in the inter-frame gap(IFG)are hard to recover,which affects positioning and communication performance.Therefore,in this article,we propose a novel VL-based hybrid positioning and communication system,named HY-PC system,to solve the above problems.First,we propose the robust T-W mapping for recognizing specific Light Emitting Diodes(LEDs),which can provide stable LED recognition accuracy without adding extra beacon data and does not decrease the communication rate.Furthermore,we also propose the novel linear block coding and bit interleaving mechanism,which can recover the lost data bits in the IFG and improve data communication performance.Finally,we use commercial off-the-shelf devices to implement our HY-PC system,extensive experimental results show that our HY-PC system can achieve consistent high-precision positioning and low-BER data communication,simultaneously.展开更多
In visible light positioning systems,some scholars have proposed target tracking algorithms to balance the relationship among positioning accuracy,real-time performance,and robustness.However,there are still two probl...In visible light positioning systems,some scholars have proposed target tracking algorithms to balance the relationship among positioning accuracy,real-time performance,and robustness.However,there are still two problems:(1)When the captured LED disappears and the uncertain LED reappears,existing tracking algorithms may recognize the landmark in error;(2)The receiver is not always able to achieve positioning under various moving statuses.In this paper,we propose an enhanced visual target tracking algorithm to solve the above problems.First,we design the lightweight recognition/demodulation mechanism,which combines Kalman filtering with simple image preprocessing to quickly track and accurately demodulate the landmark.Then,we use the Gaussian mixture model and the LED color feature to enable the system to achieve positioning,when the receiver is under various moving statuses.Experimental results show that our system can achieve high-precision dynamic positioning and improve the system’s comprehensive performance.展开更多
<div style="text-align:justify;"> Aiming at the problems of LED-based visible light positioning system such as unstable illumination, Lambertian model transmission limitation, large positioning error, ...<div style="text-align:justify;"> Aiming at the problems of LED-based visible light positioning system such as unstable illumination, Lambertian model transmission limitation, large positioning error, etc., it is proposed to use PWM to drive the LED, use the curve fitting method to obtain the ranging model, and estimate the target position according to the trilateral algorithm. A positioning system platform based on the microcontroller MiniSTM32 was built to test the performance of the transceiver circuit. The experimental results showed that the positioning error of less than 3 cm was achieved in a space of 80 cm × 80 cm × 80 cm. </div>展开更多
Haze in China is primarily caused by high pollution of atmospheric fine particulates（PM2.5）.However, the detailed source structures of PM2.5 light extinction have not been well established, especially for the roles ...Haze in China is primarily caused by high pollution of atmospheric fine particulates（PM2.5）.However, the detailed source structures of PM2.5 light extinction have not been well established, especially for the roles of various organic aerosols, which makes haze management lack specified targets. This study obtained the mass concentrations of the chemical compositions and the light extinction coefficients of fine particles in the winter in Dongguan, Guangdong Province, using high time resolution aerosol observation instruments. We combined the positive matrix factor（PMF） analysis model of organic aerosols and the multiple linear regression method to establish a quantitative relationship model between the main chemical components, in particular the different sources of organic aerosols and the extinction coefficients of fine particles with a high goodness of fit（R^2= 0.953）. The results show that the contribution rates of ammonium sulphate,ammonium nitrate, biomass burning organic aerosol（BBOA）, secondary organic aerosol（SOA） and black carbon（BC） were 48.1%, 20.7%, 15.0%, 10.6%, and 5.6%, respectively. It can be seen that the contribution of the secondary aerosols is much higher than that of the primary aerosols（79.4% versus 20.6%） and are a major factor in the visibility decline. BBOA is found to have a high visibility destroying potential, with a high mass extinction coefficient, and was the largest contributor during some high pollution periods. A more detailed analysis indicates that the contribution of the enhanced absorption caused by BC mixing state was approximately 37.7% of the total particle absorption and should not be neglected.展开更多
Visible light positioning becomes popular recently. However, its performance is degraded by the indoor diffuse optical channel. An artificial neural-network-based visible light positioning algorithm is proposed in thi...Visible light positioning becomes popular recently. However, its performance is degraded by the indoor diffuse optical channel. An artificial neural-network-based visible light positioning algorithm is proposed in this Letter, and a trained neural network is used to achieve positioning with a diffuse channel. Simulations are made to evaluate the proposed positioning algorithm. Results show that the average positioning error is reduced about 13 times, and the positioning time is reduced about two magnitudes. Moreover, the proposed algorithm is robust with a different field-of-view of the receiver and the refiectivity of the wall, which is suitable for various position- ing applications.展开更多
Visible light positioning （VLP） is an emerging candidate for indoor positioning, which carl simultaneously meet the requirements for accuracy, cost, coverage area, and security. However, intercell interference causc...Visible light positioning （VLP） is an emerging candidate for indoor positioning, which carl simultaneously meet the requirements for accuracy, cost, coverage area, and security. However, intercell interference causcd by light intensity superposition linfits the application of VLP. In this Letter, we propose a united block sequence mapping （UBSM）-based VLP that utilizes superposition to integrate the multidimensional information from dense small cells into 2D information. The experimental result shows that UBSM-based VLP can achieve an accuracy of 1.5 cm with a 0.4 m row spacing and 0.35 m column spacing of LED lights.展开更多
Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent ...Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.展开更多
Indoor and underground space positioning and navigation systems are important infrastructure for urban lifeline construction.With the development of 5G communication technology,artificial intelligence,intelligent cons...Indoor and underground space positioning and navigation systems are important infrastructure for urban lifeline construction.With the development of 5G communication technology,artificial intelligence,intelligent construction,and other technologies,autonomous mobile terminals have become the main application subjects,and the requirements for accuracy and ubiquity of indoor positioning technology are also increasing.Two main indoor positioning technologies,sensor based and RF signal based are introduced,basic concepts of new visible light communication positioning technology are discussed,and in-depth results on non-imaging and imaging positioning methods are presented in this article.We propose a pose-assisted imaging positioning method applied in the 11 m×8 m×3.5 m room,which is based on visible light communication.This test shows that this method can achieve the positioning results with a plane positioning error less than 5 cm and the height error less than 6 cm by using low-cost sensors.Visible light positioning technology provides a cost-effective and convenient new solution for indoor positioning,simultaneously solving the integration problem of communication and positioning.It can provide positioning technology supporting the construction of urban lifelines in enclosed spaces.展开更多
Visible Light Positioning(VLP)has emerged as a promising technology capable of delivering indoor localization with high accuracy.In VLP systems that use PhotoDiodes(PDs)as light receivers,the Received Signal Strength(...Visible Light Positioning(VLP)has emerged as a promising technology capable of delivering indoor localization with high accuracy.In VLP systems that use PhotoDiodes(PDs)as light receivers,the Received Signal Strength(RSS)is affected by the incidence angle of light,making the inclination of PDs a critical parameter in the positioning model.Currently,most studies assume the inclination to be constant,limiting the applications and positioning accuracy.Additionally,light blockages may severely interfere with the RSS measurements but the literature has not explored blockage detection in real-world experiments.To address these problems,we propose a tightly coupled VLP/INS(Inertial Navigation System)integrated navigation system that uses graph optimization to account for varying PhotoDiode(PD)inclinations and VLP blockages.We also propose to simultaneously estimating the robot’s pose and the locations of some unknown Light-Emitting Diodes(LEDs).Simulations and two groups of real-world experiments demonstrate the efficiency of our approach.Despite inclination changes and blockages,one group achieved an average positioning accuracy of 10 cm during movement,inclination accuracy within 1 degree,and a 100%blockage detection success rate,while the other group achieved an average accuracy of 11.5 cm,showing the effectiveness and robustness for VLP-based localization applications.展开更多
基金supported by the Guangdong Basic and Applied Basic Research Foundation No.2021A1515110958National Natural Science Foundation of China No.62202215+2 种基金SYLU introduced high-level talents scientific research support planChongqing University Innovation Research Group(CXQT21019)Chongqing Talents Project(CQYC201903048)。
文摘Visible light(VL)plays an important role in achieving high-precision positioning and low bit error radio(BER)data communication.However,most VL-based systems can not achieve positioning and communication,simultaneously.There are two problems:1)the hybrid systems are difficult to extract distinguishable positioning beacon features without affecting communication performance,2)in the hybrid systems,the lost data bits in the inter-frame gap(IFG)are hard to recover,which affects positioning and communication performance.Therefore,in this article,we propose a novel VL-based hybrid positioning and communication system,named HY-PC system,to solve the above problems.First,we propose the robust T-W mapping for recognizing specific Light Emitting Diodes(LEDs),which can provide stable LED recognition accuracy without adding extra beacon data and does not decrease the communication rate.Furthermore,we also propose the novel linear block coding and bit interleaving mechanism,which can recover the lost data bits in the IFG and improve data communication performance.Finally,we use commercial off-the-shelf devices to implement our HY-PC system,extensive experimental results show that our HY-PC system can achieve consistent high-precision positioning and low-BER data communication,simultaneously.
基金supported by the Guangdong Basic and Applied Basic Research Foundation No.2021A1515110958National Natural Science Foundation of China No.62202215+1 种基金SYLU introduced high-level talents scientific research support plan,Chongqing University Innovation Research Group(CXQT21019)Chongqing Talents Project(CQYC201903048)。
文摘In visible light positioning systems,some scholars have proposed target tracking algorithms to balance the relationship among positioning accuracy,real-time performance,and robustness.However,there are still two problems:(1)When the captured LED disappears and the uncertain LED reappears,existing tracking algorithms may recognize the landmark in error;(2)The receiver is not always able to achieve positioning under various moving statuses.In this paper,we propose an enhanced visual target tracking algorithm to solve the above problems.First,we design the lightweight recognition/demodulation mechanism,which combines Kalman filtering with simple image preprocessing to quickly track and accurately demodulate the landmark.Then,we use the Gaussian mixture model and the LED color feature to enable the system to achieve positioning,when the receiver is under various moving statuses.Experimental results show that our system can achieve high-precision dynamic positioning and improve the system’s comprehensive performance.
文摘<div style="text-align:justify;"> Aiming at the problems of LED-based visible light positioning system such as unstable illumination, Lambertian model transmission limitation, large positioning error, etc., it is proposed to use PWM to drive the LED, use the curve fitting method to obtain the ranging model, and estimate the target position according to the trilateral algorithm. A positioning system platform based on the microcontroller MiniSTM32 was built to test the performance of the transceiver circuit. The experimental results showed that the positioning error of less than 3 cm was achieved in a space of 80 cm × 80 cm × 80 cm. </div>
基金supported by the National Natural Science Foundation of China(Nos.41622304,U1301234)the Ministry of Science and Technology of China(Nos.2014BAC21B03,2016YFC0203600)the Science and Technology Plan of Shenzhen Municipality
文摘Haze in China is primarily caused by high pollution of atmospheric fine particulates（PM2.5）.However, the detailed source structures of PM2.5 light extinction have not been well established, especially for the roles of various organic aerosols, which makes haze management lack specified targets. This study obtained the mass concentrations of the chemical compositions and the light extinction coefficients of fine particles in the winter in Dongguan, Guangdong Province, using high time resolution aerosol observation instruments. We combined the positive matrix factor（PMF） analysis model of organic aerosols and the multiple linear regression method to establish a quantitative relationship model between the main chemical components, in particular the different sources of organic aerosols and the extinction coefficients of fine particles with a high goodness of fit（R^2= 0.953）. The results show that the contribution rates of ammonium sulphate,ammonium nitrate, biomass burning organic aerosol（BBOA）, secondary organic aerosol（SOA） and black carbon（BC） were 48.1%, 20.7%, 15.0%, 10.6%, and 5.6%, respectively. It can be seen that the contribution of the secondary aerosols is much higher than that of the primary aerosols（79.4% versus 20.6%） and are a major factor in the visibility decline. BBOA is found to have a high visibility destroying potential, with a high mass extinction coefficient, and was the largest contributor during some high pollution periods. A more detailed analysis indicates that the contribution of the enhanced absorption caused by BC mixing state was approximately 37.7% of the total particle absorption and should not be neglected.
基金supported by the National Natural Science Foundation of China(Nos.61475094 and61675025)the National 973 Program of China(No.2013CB329202)
文摘Visible light positioning becomes popular recently. However, its performance is degraded by the indoor diffuse optical channel. An artificial neural-network-based visible light positioning algorithm is proposed in this Letter, and a trained neural network is used to achieve positioning with a diffuse channel. Simulations are made to evaluate the proposed positioning algorithm. Results show that the average positioning error is reduced about 13 times, and the positioning time is reduced about two magnitudes. Moreover, the proposed algorithm is robust with a different field-of-view of the receiver and the refiectivity of the wall, which is suitable for various position- ing applications.
基金supported in part by the National 973Program of China(No.2013CB329205)the National Science Foundation of China(No.61401032)
文摘Visible light positioning （VLP） is an emerging candidate for indoor positioning, which carl simultaneously meet the requirements for accuracy, cost, coverage area, and security. However, intercell interference causcd by light intensity superposition linfits the application of VLP. In this Letter, we propose a united block sequence mapping （UBSM）-based VLP that utilizes superposition to integrate the multidimensional information from dense small cells into 2D information. The experimental result shows that UBSM-based VLP can achieve an accuracy of 1.5 cm with a 0.4 m row spacing and 0.35 m column spacing of LED lights.
基金supported by Bright Dream Robotics and the HKUSTBDR Joint Research Institute Funding Scheme under Project HBJRI-FTP-005(Automated 3D Reconstruction using Robot-mounted 360-Degree Camera with Visible Light Positioning Technology for Building Information Modelling Applications,OKT22EG06).
文摘Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.
基金support by the National Natural Science Foundation of china(41501491)State Key Laboratory of Geo-Information Engineering(SKLGIE2020-Z-2-1)Key Technologies Research and Development Program(2022YFB2602200).
文摘Indoor and underground space positioning and navigation systems are important infrastructure for urban lifeline construction.With the development of 5G communication technology,artificial intelligence,intelligent construction,and other technologies,autonomous mobile terminals have become the main application subjects,and the requirements for accuracy and ubiquity of indoor positioning technology are also increasing.Two main indoor positioning technologies,sensor based and RF signal based are introduced,basic concepts of new visible light communication positioning technology are discussed,and in-depth results on non-imaging and imaging positioning methods are presented in this article.We propose a pose-assisted imaging positioning method applied in the 11 m×8 m×3.5 m room,which is based on visible light communication.This test shows that this method can achieve the positioning results with a plane positioning error less than 5 cm and the height error less than 6 cm by using low-cost sensors.Visible light positioning technology provides a cost-effective and convenient new solution for indoor positioning,simultaneously solving the integration problem of communication and positioning.It can provide positioning technology supporting the construction of urban lifelines in enclosed spaces.
基金supported in part by the National Key Research and Development Program of China(International Scientific and Technological Cooperation Program)under Grant 2022YFE0139300in part by the National Natural Science Foundation of China under Grant 42374047+2 种基金in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2022B1515120067in part by the Key Research and Development Program of Hubei Province(International Scientific and Technological Cooperation Program)under Grant 2023EHA036in part by Wuhan AI Innovation Program under Grant 2023010402040011.
文摘Visible Light Positioning(VLP)has emerged as a promising technology capable of delivering indoor localization with high accuracy.In VLP systems that use PhotoDiodes(PDs)as light receivers,the Received Signal Strength(RSS)is affected by the incidence angle of light,making the inclination of PDs a critical parameter in the positioning model.Currently,most studies assume the inclination to be constant,limiting the applications and positioning accuracy.Additionally,light blockages may severely interfere with the RSS measurements but the literature has not explored blockage detection in real-world experiments.To address these problems,we propose a tightly coupled VLP/INS(Inertial Navigation System)integrated navigation system that uses graph optimization to account for varying PhotoDiode(PD)inclinations and VLP blockages.We also propose to simultaneously estimating the robot’s pose and the locations of some unknown Light-Emitting Diodes(LEDs).Simulations and two groups of real-world experiments demonstrate the efficiency of our approach.Despite inclination changes and blockages,one group achieved an average positioning accuracy of 10 cm during movement,inclination accuracy within 1 degree,and a 100%blockage detection success rate,while the other group achieved an average accuracy of 11.5 cm,showing the effectiveness and robustness for VLP-based localization applications.
