Development of General Wiimote 3D Localization Scheme and its Application on Robot Arm Attitude Detection

Abstract

Indoor localization has been receiving great interest and 2D localization system based on infrared LED-based wiimote camera is also well-developed. Although 3D positioning techniques based on infrared LED detection have been proposed and validated, it is not yet matured for general indoor localization due to its insufficient sensing zone and specific layout attitude, which may not always have been satisfied. In this work, based on previous research, a layout is proposed to extend the sensing region to cover the entire indoor space by deploying many wiimote 3D pairs and make sure the object can be detected by at least two wiimote pairs during motion. However, this also implies that the original optimal deployed attitude cannot be maintained. As a result, to deal with this problem, a variable-angle dual wiimote 3D system is developed and corresponding localization performance and sensitivity analysis is carried out for clarifying the above concern. From sensitivity analysis result, better performance in X displacement detection is achieved with the orientation setting in 90°, and the results also show the system to be more sensitive to the error in orientation. Furthermore, the scheme is also applied to robot arm attitude determination and shows the high possibility for this system developing into an effective external sensor for robot arm control. It is expected that this wiimote 3D localization system to have a great potential on inexpensive and precise general indoor localization system.Keywords: Wiimote, indoor localization, robustness analysis, 3D positioning, robot attitude determination