Achim Lilienthal and Tom Duckett

An Absolute Positioning System for 100 Euros

Proceedings of ROSE 2003, Örebro, Sweden, June 5-6


This paper describes an absolute positioning system, which provides accurate and reliable measurements using low-cost equipment that is easy to set up. The system uses a number of fixed web-cameras to track a distinctly coloured object. In order to calculate the (x,y) position of this object, estimates calculated by triangulation from each combination of two cameras are combined, resulting in centimeter-level accuracy. Example applications, including tracking of mobile robots and persons, are described. An extended set-up is also introduced, which allows determination of the heading of a two coloured object from single images.


Paper: [pdf]
Extended Abstract: [pdf]
Präsentation: [pdf]


   AUTHOR =       "Achim Lilienthal and Tom Duckett",
   TITLE =        "An Absolute Positioning System for 100 Euros",
   BOOKTITLE =    "Proceedings of the IEEE International Workshop on Robotic Sensing (ROSE 2003)",
   YEAR =         "2003",
   ADDRESS =      "{\"O}rebro, Sweden",
   DATE =         "June, 5 -- 6",