Multicamera-based Indoor Localization and Path Optimization for Mobile Robots Using Aruco Markers

Multicamera-based Indoor Localization and Path Optimization for Mobile Robots Using Aruco Markers | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Multicamera-based Indoor Localization and Path Optimization for Mobile Robots Using Aruco Markers Abdulhamit Sevgi, Hasan Erdinç Koçer This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5720392/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In indoor environments where GPS signals are unavailable, determining mobile robot positions is challenging. Common methods include SLAM, marker-based localization, inertial measurement units (IMUs), and hybrid positioning systems (HPS). SLAM enables simultaneous localization and mapping, while marker-based localization uses specific markers for position detection. IMUs track motion via velocity, acceleration, and angular velocity, and HPS combines sensors for improved accuracy. This study develops a route planning and motion optimization method using ArUco markers from the University of Córdoba. Detected via image processing, these markers guide robots by calculating the shortest and safest paths to targets. Multiple cameras enhance motion range and vision, while an automatic pan adjustment addresses overlaps and alignment issues, ensuring seamless image integration. The proposed method demonstrates the potential of multi-camera systems for reliable indoor navigation, offering promising applications in industrial and service domains. Indoor Localization Mobile Robots ArUco Markers Motion Optimization Multi-Camera Systems. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5720392","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":395848421,"identity":"b6893aff-1900-444b-a73b-8aa54ee07cd9","order_by":0,"name":"Abdulhamit Sevgi","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABV0lEQVRIie3RMUvDQBQH8BcCcTnseqG1+QpXAkUo6AdxuUMwSzsVJGBtDw6ui+LaUtDP4BIcK4F0yQcI2KHFwbXFRaGId0nR2hRnwfyHO+4dP94dD6BIkb8YDATmHMBan1FJrzS9MYTazJ2EabI2yOZgcKqq38TaTb7qZKwIpCTtkCOlkQgwezg62Xe4uVjKy4o76b/M5s1V1R4JQcBvMO5czzabTKNzzOLTlrTAsodygupxXOMsIG658igoxB7j1h7ZbJM065hJMyUmiiNUT5qGJuwWMzE2ZKjIj5c5GelpYr6uFHEH3lyTXkY+coRkJNQEyuB3EME0fRgtK0INniO1adQ+ZHKiCJP2lT9GWP1lwAK3NhwwQWjkudI62yTVJ3GfLOVF606E4eKNdI9L/f5s+R5UHZx4z3jRaRzcmFFunFn0NCDcKlLITXI73d+vixQpUuRf5hMNeH0iXsKGRwAAAABJRU5ErkJggg==","orcid":"","institution":"Ostim Technical University","correspondingAuthor":true,"prefix":"","firstName":"Abdulhamit","middleName":"","lastName":"Sevgi","suffix":""},{"id":395848422,"identity":"ae4aa228-a931-418e-ac1e-d56b12794b04","order_by":1,"name":"Hasan Erdinç Koçer","email":"","orcid":"","institution":"Selçuk University","correspondingAuthor":false,"prefix":"","firstName":"Hasan","middleName":"Erdinç","lastName":"Koçer","suffix":""}],"badges":[],"createdAt":"2024-12-27 09:08:17","currentVersionCode":1,"declarations":{"humanSubjects":false,"vertebrateSubjects":false,"conflictsOfInterestStatement":false,"humanSubjectEthicalGuidelines":false,"humanSubjectConsent":false,"humanSubjectClinicalTrial":false,"humanSubjectCaseReport":false,"vertebrateSubjectEthicalGuidelines":false},"doi":"10.21203/rs.3.rs-5720392/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-5720392/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":73056594,"identity":"cf03a5af-1d1c-444f-8034-bc0701757a99","added_by":"auto","created_at":"2025-01-06 10:09:02","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1068241,"visible":true,"origin":"","legend":"","description":"","filename":"MULTICAMERABASEDINDOORLOCALIZATION.pdf","url":"https://assets-eu.researchsquare.com/files/rs-5720392/v1_covered_c19bb7ec-4a59-4c2d-bcda-a5598d2bc363.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"\u003cp\u003eMulticamera-based Indoor Localization and Path Optimization for Mobile Robots Using Aruco Markers\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Indoor Localization, Mobile Robots, ArUco Markers, Motion Optimization, Multi-Camera Systems.","lastPublishedDoi":"10.21203/rs.3.rs-5720392/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-5720392/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIn indoor environments where GPS signals are unavailable, determining mobile robot positions is challenging. 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