This is a Repository with the code for the paper:

Automatic Lighthouse Calibration Using Conics for Indoor Robot Localization. Said Alvarado-Marin, Alexandre Abadie, Martina Balbi, Thomas Watteyne, Filip Maksimovic. IEEE Robotics and Automation Letters, to appear in 2025.

Getting Started

To install the required modules, run the following command from the root folder.

$ pip install -r requirements.txt

Using the Code

Each table and figure has a corresponding script in the root folder that generates the appropriate result or plot.

Simplified Simulated example

You may find a self contained simulated example of this algorithm here: simulation/self_contained_simulated_example.py It simulates one lighthouse basestation looking down at two circles, and uses them to correct the perspective distortion.