Abstract
This article presents a detailed description of an optical indoor positioning system named CLIPS, short for camera and laser-based indoor positioning system. The main objective of CLIPS is pose estimation of a mobile camera with respect to a static projector on a tripod. For that reason, a reference field of red and green laser spots is projected on any surface in an indoor environment. When the reference field is captured by the mobile camera, the geometric relationship between the camera pose and the projector can be established by the coplanarity constraint. Our approach enables full 6 DOF pose estimation of the mobile camera. This article describes the basic concept of CLIPS, the projector calibration, the camera pose estimation and the introduction of the system scale. In addition, the performance of CLIPS regarding achievable accuracy is analysed.
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