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Indoor Positioning System

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

The system was originally intended to work in the infrared. The NIR sensor was selected for that reason. Due to eye safety concerns the system was switched to visible light.

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.

Camera Specifications

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.

Video Recording

A Basler camera (acA1920-50gc) records videos of the experiments.

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