Indoor Positioning Using a Single PTZ Camera

The market for indoor positioning systems for a variety of applications has grown strongly in recent years. A wide range of systems is available, varying considerably in terms of accuracy, price and technology used. The suitability of the systems is highly dependent on the intended application. This paper presents a concept to use a single low-cost PTZ camera in combination with fiducial markers for indoor position and orientation determination. The intended use case is to capture a plant layout consisting of position, orientation and unique identity of individual facilities. Important factors to consider for the selection of a camera have been identified and the transformation of the marker pose in camera coordinates into a selectable plant coordinate system is described. The concept is illustrated by an exemplary practical implementation and its results.