Infrared Beacons for Robust Localization
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This paper presents a localization system that uses infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiments, we investigate and demonstrate the ability of the system to recognize our beacons in both daytime and nighttime conditions. High precision localization is a key enabler for automated vehicles but remains unsolved, despite strong recent improvements. Our low-cost, infrastructure-based approach helps solve the localization problem. All datasets are made available.
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