GroundGazer: An optical reference system for planar localization with millimeter accuracy at low cost
arXiv:2509.17346
Abstract
Highly accurate indoor localization systems with absolute mm positioning accuracy are currently expensive. They include laser trackers, total stations, and motion capture systems relying on multiple high-end cameras. In this work, we introduce a high-accuracy, planar indoor localization system named GroundGazer (GG) for autonomous mobile robots (AMRs). GG estimates the AMR's planar position with mm and its heading with sub-degree accuracy. The system requires only a monocular (fisheye) camera, a chessboard floor, and an optional laser diode. Our system is simple and low-cost due to the chessboard floor, robust, scalable to multiple robots, and extendable to 3D position and orientation estimation.