{"ID":2867483,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.17346","arxiv_id":"2509.17346","title":"GroundGazer: An optical reference system for planar localization with millimeter accuracy at low cost","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.","short_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) fo...","url_abs":"https://arxiv.org/abs/2509.17346","url_pdf":"https://arxiv.org/pdf/2509.17346v5","authors":"[\"Sven Hinderer\",\"Jakob Hüsken\",\"Bohan Sun\",\"Bin Yang\"]","published":"2025-09-22T04:18:10Z","proceeding":"eess.IV","tasks":"[\"eess.IV\"]","methods":"[]","has_code":false}