This paper presents a low-cost, accurate indoor positioning system that integrates image acquisition and processing and data-driven modeling algorithms for robotics research and education. Multiple overhead cameras are used to obtain normalized image coordinates of ArUco markers, and a new procedure is developed to convert them to the camera coordinate frame. Various data-driven models are proposed to establish a mapping relationship between the camera and the world coordinates. One hundred fifty data pairs in the camera and world coordinates are generated by measuring the ArUco marker at different locations and then used to train and test the data-driven models. With the model, the world coordinate values of the ArUco marker and its robot carrier can be determined in real time. Through comparison, it is found that a straightforward polynomial regression outperforms the other methods and achieves a positioning accuracy of about 1.5 cm. Experiments are also carried out to evaluate its feasibility for use in robot control. The developed system (both hardware and algorithms) is shared as an open source and is anticipated to contribute to robotic studies and education in resource-limited environments and underdeveloped regions.

The main objective of this paper is to develop a novel approach for linear kitchen layout design which utilizes information from existing layouts via machine learning algorithms. With the growing popularity of large-scale virtual 3D environments for architectural visualization and the game industry, the manual interior design of virtual scenes becomes prohibitively expensive in terms of time and resources. In our approach, the machine learning model automatically generates layout suggestions. The proposed procedural kitchen generation (PKG) model is a pipeline of six Machine Learning (ML) classifiers that are trained and tested on a kitchen layout dataset created by interior designers. The performances of the model are evaluated for the following classifiers: Random forest, Decision tree, AdaBoost, Naive Bayes, MLP, SVM, and L2 Logistic regression. Random forest, as the best performing classifier is used in the final PKG model, and integrated into Unity Engine for automatic 3D kitchen generation and presentation. The PKG model is evaluated in the quantitative and perceptual study, showing better performance than the prior rule-based method. The perceptual study results demonstrate that our tool can be used to speed up designer's work, improve communication with clients, and educate interior design students.