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Acta Optica Sinica, Volume. 44, Issue 9, 0915001(2024)

Research on Indoor Visual Positioning System Based on QR Code

Tianyi Zhang1, Yiyi Xu1, Lifang Feng1、*, and Zhuo Xue2
Author Affiliations
  • 1School of Computer & Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China
  • 2Inner Mongolia Huineng Coal & Power Group Co., Ltd., Ordos 017000, Inner Mongolia , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (0)
    References (16)
    Cited By (2)
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    Figures & Tables(11)
    Visual positioning system model based on QR code beacons

    Fig. 1. Visual positioning system model based on QR code beacons

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    Schematic diagram of QR code recognition range in positioning scenarios

    Fig. 2. Schematic diagram of QR code recognition range in positioning scenarios

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    Positioning scene model

    Fig. 3. Positioning scene model

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    Location recognition range model

    Fig. 4. Location recognition range model

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    QR code beacon deployment strategy

    Fig. 5. QR code beacon deployment strategy

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    Schematic diagram of room location and QR code deployment method

    Fig. 6. Schematic diagram of room location and QR code deployment method

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    Positioning result of camera fixed position

    Fig. 7. Positioning result of camera fixed position

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    Positioning robot

    Fig. 8. Positioning robot

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    CDF of positioning error

    Fig. 9. CDF of positioning error

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    • Table 1. Experimental parameters

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      Table 1. Experimental parameters

      ParameterNumerical value/Type

      1) Room size

      2) Camera parameters

      Resolution ratio

      Number of frames

      Focal distance

      FOV

      Camera sensitivity (ISO)

      Shutter speed

      PPI

      3) QR code parameters

      Location information format

      Side length

      Error correction level

      QR code beacon position (X, Y, Z)

      7 m×5 m×3 m

      —

      1920×1080

      30 frame/s

      28 mm

      80°

      100

      1/12000 s

      72

      —

      Beacon markers, side length, and coordinate: X, Y, Z

      0.3 m

      L

      (250, 250, 300), (450, 250, 300)

      (250, 450, 300), (450, 450, 300)

    • Table 2. Statistics of successful localization rate in motion state

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      Table 2. Statistics of successful localization rate in motion state

      RouteLinear motionCircular motion
      Positioning frequency8591047
      Number of successful localization attempts793959
      Successful localization rate92.31%91.59%
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    Tianyi Zhang, Yiyi Xu, Lifang Feng, Zhuo Xue. Research on Indoor Visual Positioning System Based on QR Code[J]. Acta Optica Sinica, 2024, 44(9): 0915001

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    Paper Information

    Category: Machine Vision

    Received: Dec. 5, 2023

    Accepted: Feb. 23, 2024

    Published Online: May. 7, 2024

    The Author Email: Lifang Feng (lffeng@ustb.edu.cn)

    DOI:10.3788/AOS231890

    CSTR:32393.14.AOS231890

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology