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Optical camera communication (OCC) exhibits considerable importance nowadaysin various indoor camera based services such as smart home and robot-basedautomation. An android smart phone camera that is mounted on a mobile robot(MR) offers a uniform communication distance when the camera remains at thesame level that can reduce the communication error rate. Indoor mobile robotnavigation (MRN) is considered to be a promising OCC application in which thewhite light emitting diodes (LEDs) and an MR camera are used as transmittersand receiver respectively. Positioning is a key issue in MRN systems in termsof accuracy, data rate, and distance. We propose an indoor navigation andpositioning combined algorithm and further evaluate its performance. An androidapplication is developed to support data acquisition from multiple simultaneoustransmitter links. Experimentally, we received data from four links which arerequired to ensure a higher positioning accuracy.

An Implementation Approach and Performance Analysis of Image Sensor Based Multilateral Indoor Localization and Navigation System