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The 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.

Other light sources and reflective surfaces on the vehicle can create false signals and must be covered with tape. This includes the connectors on the Raspberry Pi and the status LEDs on the motor speed controller.


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