Amfani da Sadarwar Kyamara ta Haske da Photogrammetry don Gano Matsayi a Cikin Ayyukan Sadarwar Wayar Maras Igiya

1. Gabatarwa

Wannan takardar digiri, wadda Md. Tanvir Hossan ya gabatar a Jami'ar Kookmin a shekara ta 2018, ta bincika wata sabuwar hanya ta gano matsayi ta hanyar haɗa kai da haɗin gwiwa tsakanin Sadarwar Kyamara ta Haske (OCC) da photogrammetry. Babban manufar ita ce magance gazawar tsarin da suka dogara da mitar rediyo (RF) kamar GPS da Wi-Fi, musamman a wurare masu ƙalubale kamar cikin gida ko cikin manyan biranen da suka cika da gine-gine.

1.1 Gabatarwa

Binciken ya samo asali ne daga ƙarar buƙatar ingantattun tsare-tsare na gano matsayi masu inganci, amintattu, da ƙarancin kayan aiki don Abubuwan Intanet (IoT), motocin da ke tuka kansu, da ayyukan birane masu hikima.

1.2 Muhimmancin Gano Matsayi

Ingantaccen bayanin wuri shine tushen mai ba da dama don sabbin ayyuka masu sanin yanayi.

1.2.1 Gano Matsayi a Cikin Gida

Alamun GPS suna raguwa sosai a cikin gida, wanda ke haifar da kurakurai na mita ko gazawar gaba ɗaya. Sauran tsare-tsaren da suka dogara da RF (Wi-Fi, Bluetooth) suna fama da yaduwar siginoni ta hanyoyi daban-daban kuma suna buƙatar faɗaɗa yatsun hannu ko aikawa da kayan aiki masu yawa.

1.2.2 Gano Matsayin Abin Hawa

Don tuƙi mai cin gashin kansa da sadarwar Abin Hawa zuwa Komai (V2X), daidaiton santimita yana da mahimmanci. GPS kaɗai bai isa ba saboda toshewar sigina da kurakuran yanayi. Haɗa firikwensin tare da kyamarori da LiDAR ya zama ruwan dare amma yana da tsada a lissafi.

1.3 Sabon Abu na OCC da Photogrammetry a Gano Matsayi

Hanyar haɗin gwiwar da aka gabatar ta gabatar da amfani mai manufa biyu na fitilun LED da kyamara:

• OCC (Hanyar Haɗin Bayanai): Fitilun LED suna watsa lambobin tantancewa ko bayanai (misali, sanannun ma'auni na 3D) ta hanyar haske da aka daidaita, wanda kyamara ke ɗauka. Wannan yana ba da ingantacciyar hanyar sadarwa, mara buƙatar lasisi, kuma mai ingantaccen sigina (SNR) wanda ba ya shafar tasirin RF.
• Photogrammetry (Injin Gano Matsayi): Ana amfani da hoton kyamara ɗaya don yin sake gina 3D. Ta hanyar gano sanannun alamun fitilun LED (ta hanyar lambobin tantancewa da aka warware ta OCC) a cikin hoton 2D, ana iya ƙididdige matsayi da alkiblar kyamara (pose) ta amfani da ka'idojin lissafin zane.

Wannan haɗin gwiwar ya haifar da tsarin da ke da kansa inda alamun ke watsa ainihin su da wurin su, yana sauƙaƙa hanyar gano matsayi.

1.4 Gudunmawa

Takardar digirin ta yi iƙirarin gudunmawa wajen gabatar da wannan takamaiman tsarin haɗin gwiwa, haɓaka algorithms masu alaƙa don warware bayanai da ƙididdige matsayi, da tabbatar da aikin sa don yanayin cikin gida da na abin hawa.

1.5 Tsarin Takardar Digiri

An tsara takardar da surori kan ayyukan da suka gabata, tsarin tsarin da aka gabatar, binciken aiki, da ƙarshe.

2. Ayyukan Da Suka Gabata na Gano Matsayi

2.1 Gabatarwa

Wannan babi yana bincika fasahohin gano matsayi da suka wanzu, yana kafa tushe don nuna fa'idodin hanyar da aka gabatar. Mai yiwuwa ya ƙunshi hanyoyin da suka dogara da RF (GPS, Wi-Fi RTT, UWB), hanyoyin da suka dogara da hangen nesa (monocular/SLAM, AR mai alamar alama), da sauran hanyoyin haske kamar LiDAR da Tsayayyen Gano Matsayi ta Hanyar Haske (VLP).

Bincike na Asali & Zargi

Babban Fahimta: Wannan takardar digiri ba wata takarda ce kawai ta gano matsayi ba; ƙwarewa ce ta wayo wacce ta sake amfani da firikwensin da ya fi yawa na wayar hannu—kyamara—zuwa mai karɓar rediyo da kayan aikin bincike. Ainihin ƙirƙira shine amfani da daidaita haske don saka "alamar suna" ta dijital a cikin wani alamar zahiri, yana guje wa rikitaccen matsalar hangen nesa na kwamfuta na daidaita siffofi da binciken bayanai wanda ke addabar gano matsayi na gani na al'ada (kamar Sabis na Gano Matsayi na Google). Yana mai da tushen haske mara aiki zuwa fitila mai aiki, mai tantance kanta.

Kwararar Hankali & Ƙarfafawa: Hankali yana da inganci kuma yana da sauƙi. Kwararar tsarin—ɗauki firam, warware lambobin OCC, dawo da sanannun ma'auni na 3D, warware Matsalarin Hangen Nesa-n-Maki (PnP)—tsari ne mai tsabta, mai layi. Ƙarfinsa yana bayyana a cikin aikace-aikacen da ba a saba gani ba: ka yi tunanin mutum-mutumin sito na ɗakin ajiya suna karkarwa ƙarƙashin fitilun LED na layin da aka daidaita, ko jirage marasa matuka suna shiga cikin rumfar ajiya tare da alamun LED masu lamba. Yana da juriya sosai ga hayaniyar RF na yanayin zamani, wani batu da ƙungiyar aiki ta IEEE 802.15.7r1 akan daidaitaccen OCC ta jaddada, wanda ke nuna amfaninta a wurare masu saurin lantarki. Idan aka kwatanta da tsarin VLP kawai waɗanda ke amfani da ƙarfin siginar da aka karɓa (RSS) ko kusurwar isowa (AoA) kuma suna fama da hayaniyar hasken yanayi, wannan hanyar haɗin gwiwar tana amfani da tsarin lissafin hoton, wanda ya fi ƙarfi ga sauye-sauyen ƙarfi.

Kurakurai & Gibin Mahimmancin: Duk da haka, hanyar tana daure a zahiri ta dokokin ilimin haske. Bukatar hangen nesa kai tsaye (LoS) shine ƙafar Achilles ɗinta, yana mai da shi ba za a iya amfani da shi ba a cikin wurare masu cunkoso ko waɗanda ba su da hangen nesa (NLoS)—bambanci sosai da ikon RF na shiga bangon. Ingantaccen kewayo yana iyakance ta hanyar ƙudurin kyamara da hasken fitilar LED; ba za ku iya bin diddigin abubuwan hawa a nisan mita 200 tare da kyamarar wayar hannu ba. Bugu da ƙari, aikin tsarin yana raguwa ƙarƙashin hasken yanayi mai ƙarfi (hasken rana) ko tare da ɓacin rai na motsin kyamara, batutuwan da tsarin RF galibi suka yi watsi da su. Takardar digirin mai yiwuwa ta yi watsi da jinkirin lissafin sarrafa hoto na ainihin lokaci da warware OCC, wanda zai iya zama hanawa don aikace-aikacen abin hawa mai sauri. Magani ne mai inganci sosai don takamaiman, ƙayyadaddun matsaloli.

Bayanai Masu Aiki: Ga masu aiki, wannan aikin tsari ne don ƙirƙira "masu hikima". Abin da za a iya ɗauka shi ne ƙirƙirar kayan aikin hasken LED tare da la'akari da gano matsayi tun daga farko—ta amfani da daidaitattun tsare-tsaren daidaitawa kamar Sadarwar Kyamara ta Haske (OCC) na IEEE 802.15.7. Nan gaba ba a cikin maye gurbin GPS ko gano matsayi na 5G ba, amma a ƙara su. Hanyar da ta fi dacewa ita ce haɗa firikwensin: IMU da GPS suna ba da ƙima mai ƙima, koyaushe akwai, yayin da tsarin OCC-photogrammetry ke ba da gyaran daidaitaccen daidaito a duk lokacin da kyamara ke da hangen fitila. Wannan hanyar haɗa firikwensin haɗin gwiwar ita ce jigon tsakiya a cikin binciken gano matsayi na zamani don tsarin masu cin gashin kansu, kamar yadda aka gani a dandamali kamar NVIDIA DRIVE.

Cikakkun Bayanai na Fasaha & Tsarin Lissafi

Babbar matsalar lissafi ita ce Matsalar Hangen Nesa-n-Maki (PnP). An bayar da:

• Saitin maki $n$ na 3D a cikin tsarin ma'auni na duniya: $\mathbf{P}_i = (X_i, Y_i, Z_i)^T$, wanda aka samu daga lambar LED da aka warware ta OCC.
• Hoton su na 2D da suka dace a cikin filin hoto: $\mathbf{p}_i = (u_i, v_i)^T$.
• Matrix na ciki na kyamara $\mathbf{K}$ (daga daidaitawa).

Nemo jujjuyawar kyamara $\mathbf{R}$ da fassarar $\mathbf{t}$ waɗanda suka gamsar da:

$\mathbf{p}_i = \mathbf{K} [\mathbf{R} | \mathbf{t}] \mathbf{P}_i$

Don $n \geq 4$ (a cikin tsarin da bai lalace ba), ana iya warware wannan yadda ya kamata ta amfani da algorithms kamar EPnP ko IPPE. Bangaren OCC ya ƙunshi daidaita siginar ƙarfin haske daga yanki na sha'awa (ROI) a kusa da kowane ɓangaren LED a cikin hoton. Yawanci yana amfani da Maɓalli Mai Kunna-Kashe (OOK) ko Maɓalli Mai Canzawa (VPPM). Siginar sarrafa sarkar ta ƙunshi bambance-bambancen firam don cire bango, daidaitawa, da warwarewa.

Sakamakon Gwaji & Aiki

Dangane da tsarin takardar digiri da ayyuka makamantansu, sashin gwaji mai yiwuwa ya tabbatar da tsarin a cikin tsarin dakin gwaji da aka sarrafa da kuma yanayin abin hawa na ƙarya.

Bayanin Ginshiƙi (An Ƙaddara): Taswirar ginshiƙi da ke kwatanta kuskuren gano matsayi (a cikin santimita) don tsare-tsare daban-daban: Wi-Fi RSSI, Bluetooth Low Energy (BLE), Tsantsar VLP (ta amfani da RSS), da hanyar OCC+Photogrammetry da aka gabatar. Ginshiƙin OCC+Photogrammetry zai zama gajere sosai, yana nuna daidaiton ƙasa da santimita 30, yayin da wasu suka nuna kurakurai na mita 1-5. Wani jadawalin layi na biyu mai yiwuwa yana nuna kuskuren a matsayin aikin nisa daga alamun fitilar LED, tare da kuskuren yana ƙaruwa a hankali amma yana kasancewa ƙasa da mita ɗaya a cikin kewayon aikin da aka tsara (misali, 5-10m).

Mahimman Ma'auni da Aka Ruwaito:

• Daidaiton Gano Matsayi: Tushen Matsakaicin Kuskuren Murabba'i (RMSE) a matsayi, mai yiwuwa a cikin kewayon 10-30 cm a ƙarƙashin yanayi masu kyau.
• Matsakaicin Nasara na Warware OCC: Kashi na firam inda aka warware lambobin LED daidai, ya dogara da lokacin fallasa, ƙimar firam, da mitar daidaitawa.
• Jinkirin Sarrafawa: Lokaci daga ɗaukar hoto zuwa ƙididdige matsayi, mahimmanci don aikace-aikacen ainihin lokaci.
• Ƙarfin Jurewa ga Hasken Yanayi: Lalacewar aiki a ƙarƙashin yanayin haske daban-daban.

Tsarin Bincike: Wani Lamari na Ra'ayi

Yanayi: Mutum-mutumin Kayan Ajiya Mai Hikima.

1. Matsala: Mutum-mutumi yana buƙatar karkarwa zuwa wani takamaiman shiryayye (Layi 5, Bay 12) tare da daidaiton santimita don duba abubuwa. GPS ba ya samuwa. Wi-Fi ba shi da aminci saboda shiryayyen ƙarfe yana haifar da hanyoyi daban-daban.

2. Tsarin Maganin OCC-Photogrammetry:

• Kayan Aiki: Kowane layi yana da kirtani na musamman na fitilun LED a saman rufin. Kowane LED yana daidaita lamba mai sauƙi wanda ke isar da ma'auninsa na $(X, Y, Z)$ da aka bincika a baya dangane da taswirar ɗakin ajiya.
• Firikwensin Mutum-mutumi: Kyamara mai fuskantar sama.
• Aikin Aiki:
  1. Mutum-mutumi ya shiga Layi 5. Kyamararsa ta ɗauki fitilun LED na saman rufin.
  2. Sarrafa hoto ya ware ƙullun masu haske (LEDs).
  3. Mai warware OCC ya ciro ma'auni na $(X, Y, Z)$ don kowane LED da ake iya gani.
  4. Mai warware PnP yana amfani da waɗannan ma'auni na 3D-2D don ƙididdige daidaitaccen wurin $(x, y)$ na mutum-mutumi da alkiblarsa $(\theta)$ a cikin layin.
  5. An haɗa wannan daidaitaccen gyaran tare da ƙididdigar ƙafafun ƙafafu a cikin Tace Kalman don karkatarwa mai santsi.

3. Sakamako: Mutum-mutumin ya gano Bay 12 daidai, yana nuna amfanin tsarin a cikin tsari, yanayin cikin gida mai kayan LED.

Ayyukan Gaba & Hanyoyin Bincike

• Dorewar Anka na Ƙara Gani (AR): Fitilun LED masu amfani da OCC a cikin gidan kayan gargajiya na iya ba da damar na'urorin AR su kulle abun ciki na zahiri nan take kuma daidai ga wani nuni na zahiri ba tare da binciken hannu ba, kamar yadda ayyuka kamar Azure Spatial Anchors na Microsoft suka bincika ta amfani da siffofi na gani.
• Daidaituwar Rukunin Jirage Marasa Matuka Mai Inganci: A cikin sarari da aka sarrafa kamar bene na masana'anta, jirage marasa matuka na iya amfani da filayen saukar LED da aka daidaita don daidaitaccen saukarwa da caji na milimita, ra'ayi mai alaƙa da cibiyoyin cika umarni na Amazon's Prime Air.
• Sadarwar V2X & Gano Matsayi: Fitilun mota/fitilun baya da alamomin zirga-zirga na iya watsa ainihin su da yanayinsu (misali, "Ni ne fitilar zirga-zirga #47, zan juya ja cikin sakan 2"), yana ba da damar abubuwan hawa su gano su daidai kuma su fahimci niyya, yana haɓaka tsarin tsaro.
• Hanyoyin Bincike:
  1. Rage NLoS: Amfani da saman nunawa ko siffofin haske da aka watsa don ba da damar ƙayyadaddun firikwensin da ba shi da hangen nesa.
  2. Daidaitawa & Haɗin Kai: Tura don ƙarin karɓar daidaitattun OCC (IEEE 802.15.7r1) don tabbatar da cewa fitilu da masu karɓa daban-daban suna aiki tare.
  3. Haɗa Bincike Mai Zurfi: Amfani da CNNs don daidaita matsayi kai tsaye daga hotuna masu ɗauke da fitilun LED da aka daidaita, yana mai da tsarin ya fi ƙarfi ga rufe wani ɓangare da hayaniya.
  4. Ka'idoji Masu Amfani da Makamashi: Ƙirƙirar ka'idojin sake zagayowar aiki don alamun IoT masu amfani da batura ta amfani da masu nunawa da walƙiya na kyamara a matsayin mai tambaya.

Mabambanta

1. Hossan, M. T. (2018). Amfani da Sadarwar Kyamara ta Haske da Photogrammetry don Gano Matsayi a Cikin Ayyukan Sadarwar Wayar Maras Igiya [Takardar digiri na biyu, Jami'ar Kookmin].
2. Matsayin IEEE don Gida da Manyan Biranen Yanki--Sashi na 15.7: Gajerun Sadarwar Wayar Maras Igiya ta Haske. (2018). IEEE Std 802.15.7-2018.
3. Lepetit, V., Moreno-Noguer, F., & Fua, P. (2009). EPnP: Magani Mai Inganci O(n) ga Matsalar PnP. Mujallar Duniya ta Kwamfuta ta Hangen Nesa, 81(2), 155–166.
4. Zhuang, Y., Hua, L., Qi, L., Yang, J., Cao, P., Cao, Y., ... & Thompson, J. (2018). Binciken Tsare-tsaren Gano Matsayi ta Amfani da Fitilun Haske da ake iya Gani. IEEE Communications Surveys & Tutorials, 20(3), 1963-1988.
5. Kamfanin NVIDIA. (2023). NVIDIA DRIVE Hyperion: Dandamalin Kwamfuta na Abin Hawa Mai Cin Gashin Kansa. An samo daga https://www.nvidia.com/en-us/self-driving-cars/
6. Kamfanin Microsoft. (2023) Azure Spatial Anchors. An samo daga https://azure.microsoft.com/en-us/products/spatial-anchors/