{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,5]],"date-time":"2026-04-05T08:15:09Z","timestamp":1775376909751,"version":"3.50.1"},"reference-count":33,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2023,5,11]],"date-time":"2023-05-11T00:00:00Z","timestamp":1683763200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper presents a low-cost, accurate indoor positioning system that integrates image acquisition and processing and data-driven modeling algorithms for robotics research and education. Multiple overhead cameras are used to obtain normalized image coordinates of ArUco markers, and a new procedure is developed to convert them to the camera coordinate frame. Various data-driven models are proposed to establish a mapping relationship between the camera and the world coordinates. One hundred fifty data pairs in the camera and world coordinates are generated by measuring the ArUco marker at different locations and then used to train and test the data-driven models. With the model, the world coordinate values of the ArUco marker and its robot carrier can be determined in real time. Through comparison, it is found that a straightforward polynomial regression outperforms the other methods and achieves a positioning accuracy of about 1.5 cm. Experiments are also carried out to evaluate its feasibility for use in robot control. The developed system (both hardware and algorithms) is shared as an open source and is anticipated to contribute to robotic studies and education in resource-limited environments and underdeveloped regions.<\/jats:p>","DOI":"10.1017\/s0263574723000589","type":"journal-article","created":{"date-parts":[[2023,5,11]],"date-time":"2023-05-11T08:55:37Z","timestamp":1683795337000},"page":"2648-2667","source":"Crossref","is-referenced-by-count":3,"title":["A low-cost indoor positioning system based on data-driven modeling for robotics research and education"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2735-5840","authenticated-orcid":false,"given":"Junlin","family":"Ou","sequence":"first","affiliation":[]},{"given":"Seong Hyeon","family":"Hong","sequence":"additional","affiliation":[]},{"given":"Tristan","family":"Kyzer","sequence":"additional","affiliation":[]},{"given":"Haizhou","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Xianlian","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Yi","family":"Wang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,5,11]]},"reference":[{"key":"S0263574723000589_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IPIN.2016.7743686"},{"key":"S0263574723000589_ref6","doi-asserted-by":"crossref","unstructured":"[6] Mareedu, M. , Kothacheruvu, S. and Raghunath, S. , \u201cIndoor Navigation Using Ultra-Wideband Indoor Positioning System (IPS),\u201d AIP Conference Proceedings, 2021 Dec 1, AIP Publishing LLC, vol. 2407 (2021) pp. 020022.","DOI":"10.1063\/5.0074280"},{"key":"S0263574723000589_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2017.2681398"},{"key":"S0263574723000589_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-021-06112-5"},{"key":"S0263574723000589_ref11","unstructured":"[11] Ng, Z. Y. , Indoor-Positioning for Warehouse Mobile Robots Using Computer Vision (Doctoral dissertation, UTAR)."},{"key":"S0263574723000589_ref28","first-page":"1","article-title":"Multi-fidelity reduced-order model for GPU-enabled microfluidic concentration gradient design","author":"Yang","year":"2022","journal-title":"Eng. Comput."},{"key":"S0263574723000589_ref20","first-page":"337","article-title":"Indoor visual positioning method based on image features","volume":"34","author":"Liu","year":"2022","journal-title":"Sens. Mater."},{"key":"S0263574723000589_ref32","unstructured":"[32] Kyzer, T. , Instrumentation and Experimentation Development for Robotic Systems (Doctoral dissertation, University of South Carolina)."},{"key":"S0263574723000589_ref10","doi-asserted-by":"crossref","unstructured":"[10] Yan, S. , Su, Y. , Sun, A. , Ji, Y. , Xiao, J. and Chen, X. , \u201cLow-Cost and Lightweight Indoor Positioning Based on Computer Vision,\u201d 2022 4th Asia Pacific Information Technology Conference 2022 Jan 14 (2022) pp. 169\u2013175.","DOI":"10.1145\/3512353.3512378"},{"key":"S0263574723000589_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2847356"},{"key":"S0263574723000589_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2970946"},{"key":"S0263574723000589_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767965"},{"key":"S0263574723000589_ref8","doi-asserted-by":"publisher","DOI":"10.3390\/electronics11030308"},{"key":"S0263574723000589_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/BF02065971"},{"key":"S0263574723000589_ref30","volume-title":"DACE: A Matlab Kriging Toolbox","author":"Lophaven","year":"2002"},{"key":"S0263574723000589_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCE-ASIA.2018.8552138"},{"key":"S0263574723000589_ref2","unstructured":"[2] Amsters, R. , Demeester, E. , Stevens, N. , Lauwers, Q. and Slaets, P. , \u201cEvaluation of Low-Cost\/High-Accuracy Indoor Positioning Systems,\u201d Proceedings of the 2019 International Conference on Advances in Sensors, Actuators, Metering and Sensing (ALLSENSORS), Athens, Greece 2019 Feb 24 (2019) pp. 24\u201328."},{"key":"S0263574723000589_ref3","doi-asserted-by":"publisher","DOI":"10.3390\/s18124142"},{"key":"S0263574723000589_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LPT.2018.2834930"},{"key":"S0263574723000589_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01307-9"},{"key":"S0263574723000589_ref31","first-page":"3183","article-title":"ooDACE toolbox: A flexible object-oriented Kriging implementation","volume":"15","author":"Couckuyt","year":"2014","journal-title":"J. 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