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asdasdThe Indoor Positioning System works with active light sources (LEDs) on the vehicles and a camera looking down from the ceiling. The LEDs are detected based on their high brightness. The camera is set to a very short exposure (~100 microseconds). Thus, the ambient light creates a very small signal (almost black), while the LEDs still appear as white dots. The short exposure time also eliminates the problem of motion blur. At a top speed of 4 m/s the vehicle travels 0.4 mm during the exposure.

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