Indoor Toy Car Localization and Navigation using Projected Light

Indoor localization is challenging in terms of both the accuracy and possible using scenarios. In this paper, we introduce the design and implementation of a toy car localization and navigation system, which demonstrates that a projected light based localization technique allows multiple devices to know and exchange their fine-grained location information in an indoor environment. The projected light consists of a sequence of gray code images which assigns each pixel in the projection area a unique gray code so as to distinguish their coordination. The light sensors installed on the toy car and the potential “passenger” receive the light stream from the projected light stream, based on which their locations are computed. The toy car then utilizes A* algorithm to plan the route based on its own location, orientation, the target’s location and the map of available “roads”. The fast speed of localization enables the toy car to adjust its own orientation while “driving” and keep itself on “roads”. The toy car system demonstrates that the localization technique can power other applications that require fine-grained location information of multiple objects simultaneously. Keywords-indoor localization; projected light; projector; multi-device interaction; navigation