Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions. Additionally, due to complicated indoor environments, it is still challenging to develop a robust VLP. In this work, we proposed loosely-coupled multi-sensor fusion method based on VLP and Simultaneous Localization and Mapping (SLAM), with light detection and ranging (LiDAR), odometry, and rolling shutter camera. Our method can provide accurate and robust robotics localization and navigation in LED-shortage or even outage situations. The efficacy of the proposed scheme is verified by extensive real-time experiment 1 . The results show that our proposed scheme can provide an average accuracy of 2 cm and the average computational time in low-cost embedded platforms is around 50 ms.

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技术报告：可见光定位和SLAM的机器人定位和导航系统

可见光定位（VLP）技术是一项很有前途的技术，因为它可以基于现有的照明基础设施提供高精度的定位。但是，现有方法通常需要密集的照明分布。另外，由于复杂的室内环境，开发强大的VLP仍然具有挑战性。在这项工作中，我们提出了一种基于VLP和同时定位与映射（SLAM），光检测与测距（LiDAR），里程表和卷帘相机的松耦合多传感器融合方法。我们的方法可以在LED短缺甚至停电的情况下提供准确而强大的机器人定位和导航。大量实时实验1验证了该方案的有效性。