WhyCon: low-cost, high-performance and precise external localization system

WhyCon consists mainly of a very efficient method of detecting circular patterns. After detection, its 3D position is derived from knowing the real dimensions of the pattern. The detection is robust to perspective views. The system has accuracy in the order of a few centimeters and processes images at rates of hundreds of frames per second. This means they it is possible to localize multiple patterns simultaneously without introducing significant delays in processing.
WhyCon is open source, supports ROS (Robot Operating System) and has been widely used in various works to obtain ground-truth information while conducting experiments with mobile robots.