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Camera Specifications

A Basler camera is used for the indoor positioning system in the lab.


The camera is mounted at a height of 3.3 meters to overlook the complete map area. It is centered to the map and orientated straight downwards. In order to simplify the positioning of the camera, we installed three aluminum profiles in an H-form to be able to move the camera along the x- and y-axis.


Model NumberacA2040-90umNIR
Camera Sensor Format1"
Pixels (H x V)2,048 x 2,048
TypeNIR Camera
Camera Familyace
ConformityUSB3 Vision, GenICam
Dimensions (mm)29.3 x 29.0 x 29.0
Exposure ControlFreely Programmable
Frame Rate (fps)90
Imaging DeviceCMOSIS CMV4000 NIR-enhanced
Input/Output Options1 Opto-isolated Input/Output, 2 Fast-GPIO Ports
Operating Temperature (°C)0 to +60
Pixel Size, H x V (μm)5.5 x 5.5
Power RequirementVia USB 3.0 interface
SynchronizationVia External Trigger, or Free-Run
Type of SensorProgressive Scan CMOS
Type of ShutterGlobal
Video OutputUSB 3.0


A PVC canvas of the size 4.0 x 4.5 m with a 0.1 x 0.1 m checkerboard pattern printed on it is used to calibrate the IPS. This pattern is also used to define the coordinate system in the lab.

Compile and test

cd ~/dev
git clone


Video Recording


cd software
cd ips2

To test that the IPS works, open two terminals. In the first, run

./build/BaslerLedDetection --visualization=true

Switch a vehicle on and place it in front of the camera. The flashing LEDs should be highlighted in the visualization.

In the second terminal, run

./build/ips_pipeline --visualization=true

The detected LEDs sould also show up in this second visualization.