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October 3, 2025Open Access

GroundGazer: Camera-based indoor localization of mobile robots with millimeter accuracy at low cost

SHSven HindererUniversity of Stuttgart JHJakob Hüsken BSBei SunXi'an University of Science and Technology

Key Points

The GroundGazer system achieves millimeter accuracy for indoor localization in mobile robots.
Using only a monocular camera and chessboard floor, it simplifies the setup while remaining low-cost.
GroundGazer is robust and scalable, able to extend to larger areas and possible integration into robot swarms.
This work highlights a significant step toward affordable and highly accurate indoor navigation technology.

Abstract

Highly accurate indoor localization systems with mm positioning accuracy are currently very expensive. They include range finders (such as LiDAR), tachymeters, and motion capture systems relying on multiple high-end cameras. In this work, we introduce a high-accuracy, planar indoor localization system named GroundGazer (GG) for autonomous mobile robots (AMRs). GG estimates the AMR's position with mm and its heading with sub-degree accuracy. The system requires only a monocular (fisheye) camera, a chessboard floor, and an optional laser diode. Our system is simple and low-cost, easy to set up, portable, robust, scalable to large areas and robot swarms, and potentially extendable to 3D position and orientation estimation.

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