Indoor Positioning System Based on Distributed Camera Sensor Networks for Mobile Robot

  • Yonghoon JiEmail author
  • Atsushi Yamashita
  • Hajime Asama
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 531)


An importance of accurate position estimation in the field of mobile robot navigation cannot be overemphasized. In case of an outdoor environment, a global positioning system (GPS) is widely used to measure the position of moving objects. However, the satellite based GPS does not work indoors. In this paper, we propose a novel indoor positioning system (IPS) that uses calibrated camera sensors and 3D map information. The IPS information is obtained by generating a bird’s-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when the moving object is detected from multiple camera views. We evaluate the proposed IPS in a real environment in a wireless camera sensor network. The results demonstrate that the proposed IPS based on the camera sensor network can provide accurate position information of moving objects.


Global positioning system Indoor positioning system Camera network Mobile robot 



This work was in part supported by Tough Robotics Challenge, ImPACT Program (Impulsing Paradigm Change through Disruptive Technologies Program).


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Department of Precision EngineeringThe University of TokyoBunkyōJapan

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