Towards low-cost indoor localisation using a multi-camera system

Abstract

Indoor localisation is a fundamental problem in robotics, which has been the subject of several research works over the last few years. Indeed, while solutions based on fusion of inertial and global navigation satellite system (GNSS) measurements have proved their efficiency in outdoor environments, indoor localisation remains an open research problem. Although commercial motion tracking systems offer very accurate position estimation, their high cost cannot be afforded by all research laboratories. This paper presents an indoor localisation solution based on a multi-camera setup. The proposed system relies on low-cost sensors, which makes it very affordable compared to commercial motion-tracking systems. We show through the experiments conducted that the proposed approach, although being cheap, can provide real-time position measurements with an error of less than 2 cm up to a distance of 2 m.