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3D position and attitude estimation using novel marker detection method

The aim of this paper is to present a novel indoor positioning system which is based on an image display method. The basic idea of the indoor positioning method is presented. The optical sensing is a combination of specific analogue preprocessing and digital signal processing techniques that are capable of measuring and recognising markers that are mounted on the agent to be tracked. The paper mainly focuses on the three-dimensional position and attitude reconstruction methods for multiple makers in known configuration. The estimation of a single marker's position is typically based on more than two sensors' measurements. Therefore, it is different from the classical epipolar geometry based methods. Information about the configuration of multiple markers is included in the reconstruction method as constraints.