Optical Marker Group Coding for Indoor Vehicle Self-Localization
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Solution Overview
Problem
Indoor navigation poses a complex challenge due to the lack of satellite infrastructure and the high cost and complexity of existing self-localization methods, particularly in environments without GPS signals, where conventional optical markers and geocoding systems are limited in scalability and adaptability.
Innovation Solution
A method utilizing groups of at least three optical markers with combined code content to uniquely describe positions, allowing for cost-effective and robust self-localization, enabling navigation in indoor environments with high spatial resolution, and facilitating integration with warehouse management and data analysis systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite supported processes (GPS) are used for self-localization, then positioning accuracy is improved, but infrastructure dependency increases and indoor applicability deteriorates
Solution Approach 1:
The patent introduces optical markers as intermediary objects that mediate between the camera system and the positioning system. These markers serve as reference points that the camera can detect and use to determine position and orientation, replacing direct satellite signal dependency with an intermediate visual reference system that works indoors.
Solution Approach 2:
The patent replaces the satellite-based electromagnetic signal system with an optical marker-based visual system. Instead of relying on GPS satellites and radio frequency signals, the system uses optical markers detectable by camera sensors, substituting one physical domain for another to achieve indoor positioning capability.
2Ease of manufacture
If conventional optical markers are used for self-localization, then cost is reduced, but position description capability deteriorates
Solution Approach 1:
The patent merges multiple pieces of information into the optical marker design. Each marker combines visual detectability features with encoded position information, creating a multi-functional element. The markers are arranged in groups where the combination of multiple markers provides comprehensive position and orientation data, merging spatial distribution with information encoding.
Solution Approach 2:
The patent applies local quality by making each optical marker have specific properties tailored to its function. Different markers in the group may have different visual characteristics or encoded values that correspond to their specific locations. This local differentiation allows the system to distinguish between different positions while using simple, inexpensive marker technology.
3Measurement precision
If groups of at least three optical markers are used, then position uniqueness is improved, but marker quantity and system complexity increase
Solution Approach 1:
The patent transitions from using single markers to using groups of markers, adding the dimension of spatial arrangement to the positioning system. By requiring detection of at least three markers and analyzing their relative positions and orientations, the system creates a geometric constraint system that uniquely determines camera position and orientation. This dimensional approach to marker grouping provides unambiguous position identification.
Data Source
AI summary
A method of self-localization in a navigation environment is provided in which a respective optical marker is attached to a plurality of positions, wherein a marker is detected and read by an optical code reader and the position of the marker is determined from the code content. In this respect, the markers are attached in groups of at least three respective markers; a value range of the code content of the markers is smaller than the number of positions having an optical marker; and the code content of the at least three markers of a group together uniquely describe the position of the group.