A Positioning Scheme Combining Location Tracking with Vision Assisting for Wireless Sensor Networks

F. Tsai, Y.-S. Chiou, H. Chang


This paper presents the performance of an adaptive location-estimation technique combining Kalman filtering (KF)with vision assisting for wireless sensor networks. For improving the accuracy of a location estimator, a KF procedureis employed at a mobile terminal to filter variations of the location estimate. Furthermore, using a vision-assistedcalibration technique, the proposed approach based on the normalized cross-correlation scheme is an accuracyenhancement procedure that effectively removes system errors causing uncertainty in real dynamic environments.Namely, according to the vision-assisted approach to extract the locations of the reference nodes as landmarks, a KFbasedapproach with the landmark information can calibrate the location estimation and reduce the corner effect of alocation-estimation system. In terms of the location accuracy estimated from the proposed approach, the experimentalresults demonstrate that more than 60 percent of the location estimates have error distances less than 1.4 meters in aZigBee positioning platform. As compared with the non-tracking algorithm and non-vision-assisted approach, theproposed algorithm can achieve reasonably good performance.


Kalman filtering; location estimation and tracking; normalized cross correlation; wireless sensor network; zigBee positioning system.

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