부산대학교 도서관

This paper proposes a visual positioning algorithm based on feature points and triangular structures on a quick response code (V-FTQ), which can achieve precise position and orientation estimation using only a monocular camera and a single quick response (QR) code beacon. In the considered system, a few QR codes are placed on the ceiling, and a user holds a camera in hand to capture one QR code for positioning. In particular, we first propose an efficient matching mechanism to match the feature points of the captured QR beacon to their projections in the image plane of the camera. Then, based on the geometry relations between the feature points and their projections, V-FTQ is able to calculate the coordinates of the feature points in the camera coordinate. Next, the pose and position of the user are estimated based on linear algebra and spatial geometry. Finally, a singular solution elimination scheme is further proposed to effectively eliminate incorrect solutions estimated by V-FTQ, remaining correct pose and position. The simulation results demonstrate that V-FTQ outperforms similar algorithms in terms of precision and robustness to noise.