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Error Analysis of Optical Self-Localization using Mapped and Distinguishable Beacons

Enthoven, M.M.F.C. (2018) Error Analysis of Optical Self-Localization using Mapped and Distinguishable Beacons.

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Abstract:Localization of an agent is a fundamental issue in a full-body immersive VR product. The agent's absolute position has to be correct to render the virtual world correctly. In this paper, an agent localizes himself inside a football field bordered by beacons with a 10 meter relative spacing, using only an optical camera. The beacons are mapped and identifiable. The agent triangulates its own position by measuring bearings to the beacons. A simulation model of the field is built and it is investigated with what accuracy the position can be triangulated. The simulation model is refined with a preliminary experiment investigating the camera's field of view and measurement errors of the bearings. We show that this system provides sub-decimeter accuracy but also suffers from large blind spots, poses where the location can not be triangulated. Recommendations are provided on how to shrink the size of the blind spots.
Item Type:Essay (Bachelor)
Clients:
RE-liON, Enschede, The Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 33 physics, 54 computer science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/75277
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