A camera measures distance to known LED lights by the size of their image on the sensor, then triangulates the camera's position, using this for indoor smartphone and outdoor vehicle localization.
A new vehicle localization scheme based on combined optical camera communication and photogrammetry,
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Localization using Optical Camera Communication and Photogrammetry for Wireless Networking Applications
A camera measures distance to known LED lights by the size of their image on the sensor, then triangulates the camera's position, using this for indoor smartphone and outdoor vehicle localization.