A repository of my implementation for event-based localization with VLC markers. I used prophesee camera and their drivers for this experiment.
Execute calibration. You should blink checkerboards on PC or whatever. Then, collect event list from several perspectives.
This contain two components: detector and encoder.
Detector detects VLC-LEDs according to their frequencies.
Encoder encodes messages from VLC.
The results should go into ./localization/data
Pipeline for offline localization.
It calls functions from ./vlc to locate and encode messages from marker, and then estimate it's pose.
This only supports localization upon 4-DoF.
ROS package for online localization based on VLC-markers with Event-Based Camera.