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Visible light positioning (VLP) technology is a promising technique as it canprovide high accuracy positioning based on the existing lightinginfrastructure. However, existing approaches often require dense lightingdistributions. Additionally, due to complicated indoor environments, it isstill challenging to develop a robust VLP. In this work, we proposedloosely-coupled multi-sensor fusion method based on VLP and SimultaneousLocalization and Mapping (SLAM), with light detection and ranging (LiDAR),odometry, and rolling shutter camera. Our method can provide accurate androbust robotics localization and navigation in LED-shortage or even outagesituations. The efficacy of the proposed scheme is verified by extensivereal-time experiment. The results show that our proposed scheme can provide anaverage accuracy of 2 cm and the average computational time in low-costembedded platforms is around 50 ms.

Technology Report : Robotic Localization and Navigation System for Visible Light Positioning and SLAM