Highly accurate indoor localization systems with absolute mm positioning accuracy are currently expensive. They include laser trackers, total stations, 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 planar 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 due to the chessboard floor, robust, scalable to multiple robots, and extendable to 3D position and orientation estimation.
@article{arxiv.2509.17346,
title = {GroundGazer: An optical reference system for planar localization with millimeter accuracy at low cost},
author = {Sven Hinderer and Jakob Hüsken and Bohan Sun and Bin Yang},
journal= {arXiv preprint arXiv:2509.17346},
year = {2026}
}