Vision-based Indoor Localization using Color Code Identification

Indoor localization can be performed through landmark detection. Color signatures are artificial landmarks that are deployed on to the indoor can calculate the location with high precision. This work aims to investigate a low-cost positioning approach using monocular vision and color signature identification. The intrinsic and extrinsic parameters obtained from the camera calibration is used to transform location coordinates in the image coordinate system to a world coordinate system. The estimation results show the positioning accuracy ranging from 0.067 cm to 3.15 cm for the y-coordinates and 0.0133 cm to 1.45 cm for the x-coordinates.