An Indoor Localization System for Automotive Driving Competitions

Abstract

Localization, in both indoor and outdoor settings, represents a problem that has received increased attention lately. This paper presents the development, testing, and validation of an indoor localization system for 1/10 scale vehicles based on the Robot Operating System (ROS) and ArUco marker detection. It has a distributed architecture, consisting of tens of Raspberry Pi (RPi) singleboard computers running ROS nodes and fitted with cameras, that monitor a certain area of the 14x14 m plane. The developed system has been successfully used in three editions of Bosch Future Mobility Challenge, an international student competition, where the participants are required to implement autonomous driving functionalities in an environment resembling a real-life city on small-scale automated vehicles.