@INPROCEEDINGS{7353809, 
author={K. Qiu and F. Zhang and M. Liu}, 
booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
title={Visible Light Communication-based indoor localization using Gaussian Process}, 
year={2015}, 
volume={}, 
number={}, 
pages={3125-3130}, 
abstract={For mobile robots and position-based services, such as healthcare service, precise localization is the most fundamental capability while low-cost localization solutions are with increasing need and potentially have a wide market. A low-cost localization solution based on a novel Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process(GP) is used to model the intensity distributions of the light sources. A Bayesian localization framework is constructed using the results of the GP, leading to precise localization. Path-planning is hereby feasible by only using the GP variance field, rather than using a metric map. Dijkstra's algorithm-based path-planner is adopted to cope with the practical situations. We demonstrate our localization system by real-time experiments performed on a tablet PC in an indoor environment.}, 
keywords={Bayes methods;Gaussian processes;free-space optical communication;indoor environment;indoor navigation;mobile robots;optical information processing;path planning;Bayesian localization framework;Dijkstra algorithm-based path-planner;Gaussian process variance field;VLC system;beacons;healthcare service;illumination;indoor environment;light source intensity distribution;localization precision;mobile robots;modulated LED lights;path planning;position-based service;tablet PC;visible light communication-based indoor localization;Bayes methods;Electron tubes;Gaussian processes;Light emitting diodes;Light sources;Optoelectronic and photonic sensors}, 
doi={10.1109/IROS.2015.7353809}, 
ISSN={}, 
month={Sept},}