Augmenting indoor inertial tracking with polarized light

Zhao Tian, Yu Lin Wei, Wei Nin Chang, Xi Xiong, Changxi Zheng, Hsin Mu Tsai, Ching-Ju Lin, Xia Zhou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Inertial measurement unit (IMU) has long suffered from the problem of integration drift, where sensor noises accumulate quickly and cause fast-growing tracking errors. Existing methods for calibrating IMU tracking either require human in the loop, or need energy-consuming cameras, or suffer from coarse tracking granularity. We propose to augment indoor inertial tracking by reusing existing indoor luminaries to project a static light polarization pattern in the space. This pattern is imperceptible to human eyes and yet through a polarizer, it becomes detectable by a color sensor, and thus can serve as fine-grained optical landmarks that constrain and correct IMU’s integration drift and boost tracking accuracy. Exploiting the birefringence optical property of transparent tapes – a low-cost and easily-accessible material – we realize the polarization pattern by simply adding to existing light cover a thin polarizer film with transparent tape stripes glued atop. When fusing with IMU sensor signals, the light pattern enables robust, accurate and low-power motion tracking. Meanwhile, our approach entails low deployment overhead by reusing existing lighting infrastructure without needing an active modulation unit. We build a prototype of our light cover and the sensing unit using off-the-shelf components. Experiments show 4.3 cm median error for 2D tracking and 10 cm for 3D tracking, as well as its robustness in diverse settings.

Original languageEnglish
Title of host publicationMobiSys 2018 - Proceedings of the 16th ACM International Conference on Mobile Systems, Applications, and Services
PublisherAssociation for Computing Machinery, Inc
Pages362-375
Number of pages14
ISBN (Electronic)9781450357203
DOIs
StatePublished - 10 Jun 2018
Event16th ACM International Conference on Mobile Systems, Applications, and Services,MobiSys 2018 - Munich, Germany
Duration: 10 Jun 201815 Jun 2018

Publication series

NameMobiSys 2018 - Proceedings of the 16th ACM International Conference on Mobile Systems, Applications, and Services

Conference

Conference16th ACM International Conference on Mobile Systems, Applications, and Services,MobiSys 2018
CountryGermany
CityMunich
Period10/06/1815/06/18

Keywords

  • Inertial tracking
  • Light polarization
  • Particle filter

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  • Cite this

    Tian, Z., Wei, Y. L., Chang, W. N., Xiong, X., Zheng, C., Tsai, H. M., Lin, C-J., & Zhou, X. (2018). Augmenting indoor inertial tracking with polarized light. In MobiSys 2018 - Proceedings of the 16th ACM International Conference on Mobile Systems, Applications, and Services (pp. 362-375). (MobiSys 2018 - Proceedings of the 16th ACM International Conference on Mobile Systems, Applications, and Services). Association for Computing Machinery, Inc. https://doi.org/10.1145/3210240.3210340