Vehicle localization in enclosed environments, such as indoor parking lots,
tunnels, and confined areas, presents significant challenges and has garnered
considerable research interest. This paper proposes a localization technique
based on an onboard binocular camera system, utilizing binocular ranging and
spatial intersection algorithms to achieve active localization. The method
involves pre-deploying reference points with known coordinates within the
experimental space, using binocular ranging to measure the distance between the
camera and the reference points, and applying the spatial intersection algorithm
to calculate the camera’s center coordinates, thereby completing the
localization process. Experimental results demonstrate that the proposed
algorithm achieves sub-meter level localization accuracy. Localization accuracy
is significantly influenced by the calibration precision of the binocular camera
and the number of reference points. Higher calibration precision and a greater
number of reference points contribute to improved localization accuracy. Through
experiments, the feasibility and effectiveness of the proposed algorithm are
validated, and key factors affecting localization accuracy are analyzed. This
technology is an active localization technique, particularly suitable for indoor
environments where GNSS signals are obstructed. Its advantages include low
deployment costs and ease of implementation, providing an effective solution for
indoor localization. This approach holds significant theoretical and practical
value for addressing object localization challenges in obstructed
environments.