A low-cost indoor positioning system based on data-driven modeling for robotics research and education

Junlin Ou, Seong Hyeon Hong, Tristan Kyzer, Haizhou Yang, Xianlian Zhou, Yi Wang

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)2648-2667
Number of pages20
Issue number9
StatePublished - Sep 11 2023

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computational Mechanics
  • General Mathematics
  • Modeling and Simulation
  • Rehabilitation
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


  • ArUco marker
  • OpenCV
  • data-driven model
  • image processing
  • indoor positioning system


Dive into the research topics of 'A low-cost indoor positioning system based on data-driven modeling for robotics research and education'. Together they form a unique fingerprint.

Cite this