Abstract
This paper presents the latest developments related to an optical indoor positioning system named CLIPS, which consists of a projector and a mobile camera. With the projector, a pattern of laser spots is projected on any surface in an indoor environment. For the camera pose estimation in respect to the projector device, the camera has to capture the scene with the laser spots. The geometric relationship between the camera pose and the projector device can be established by the coplanarity constraint. This paper focuses on new findings regarding the real-time detection of laser spots in images and their unique identification. In addition, a novel method of system scale determination is presented.
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