Visible light positioning (VLP) is a promising technology since it can provide high accuracy indoor localization based on the existing lighting infrastructure. However, existing approaches often require dense LED distributions and persistent line-of-sight (LOS) between transmitter and receiver. What's more, sensors are imperfect, and their measurements are prone to errors. Through multi sensors fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable pose estimations. In this work, we propose a loosely-coupled multi-sensor fusion method based on VLP and Simultaneous Localization and Mapping (SLAM), using light detection and ranging (LiDAR), odometry, and rolling shutter camera. Our multi-sensor localizer can provide accurate and robust robot localization and navigation in LED shortage/outage situations. The experimental results show that our proposed scheme can provide an average accuracy of 2.5 cm with around 42 ms average positioning latency.

中文翻译：

---

使用可见光定位和 SLAM 融合进行机器人定位和导航


可见光定位（VLP）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室内定位。然而，现有方法通常需要密集的 LED 分布以及发射器和接收器之间的持续视线 (LOS)。更重要的是，传感器并不完美，其测量结果很容易出现错误。通过多传感器融合，我们可以弥补独立传感器的缺陷并提供更可靠的位姿估计。在这项工作中，我们提出了一种基于 VLP 和同步定位与建图 (SLAM) 的松耦合多传感器融合方法，使用光检测和测距 (LiDAR)、里程计和卷帘快门相机。我们的多传感器定位器可以在 LED 短缺/断电情况下提供准确而强大的机器人定位和导航。实验结果表明，我们提出的方案可以提供 2.5 厘米的平均精度，平均定位延迟约为 42 毫秒。