{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:13:43Z","timestamp":1760145223701,"version":"build-2065373602"},"reference-count":40,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2024,7,2]],"date-time":"2024-07-02T00:00:00Z","timestamp":1719878400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish Ministry of Economy, Industry and Competitiveness and FEDER","award":["MCIN\/AEI\/10.13039\/501100011033"],"award-info":[{"award-number":["MCIN\/AEI\/10.13039\/501100011033"]}]},{"name":"NextGeneration\/PRTR","award":["MCIN\/AEI\/10.13039\/501100011033"],"award-info":[{"award-number":["MCIN\/AEI\/10.13039\/501100011033"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Estimating the pose of a large set of fixed indoor cameras is a requirement for certain applications in augmented reality, autonomous navigation, video surveillance, and logistics. However, accurately mapping the positions of these cameras remains an unsolved problem. While providing partial solutions, existing alternatives are limited by their dependence on distinct environmental features, the requirement for large overlapping camera views, and specific conditions. This paper introduces a novel approach to estimating the pose of a large set of cameras using a small subset of fiducial markers printed on regular pieces of paper. By placing the markers in areas visible to multiple cameras, we can obtain an initial estimation of the pair-wise spatial relationship between them. The markers can be moved throughout the environment to obtain the relationship between all cameras, thus creating a graph connecting all cameras. In the final step, our method performs a full optimization, minimizing the reprojection errors of the observed markers and enforcing physical constraints, such as camera and marker coplanarity and control points. We validated our approach using novel artificial and real datasets with varying levels of complexity. Our experiments demonstrated superior performance over existing state-of-the-art techniques and increased effectiveness in real-world applications. Accompanying this paper, we provide the research community with access to our code, tutorials, and an application framework to support the deployment of our methodology.<\/jats:p>","DOI":"10.3390\/s24134303","type":"journal-article","created":{"date-parts":[[2024,7,2]],"date-time":"2024-07-02T09:01:39Z","timestamp":1719910899000},"page":"4303","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Large-Scale Indoor Camera Positioning Using Fiducial Markers"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-4483-9258","authenticated-orcid":false,"given":"Pablo","family":"Garc\u00eda-Ruiz","sequence":"first","affiliation":[{"name":"Departamento de Inform\u00e1tica y An\u00e1lisis Num\u00e9rico, Edificio Einstein, Campus de Rabanales, Universidad de Co\u0155doba, 14071 C\u00f3rdoba, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9572-0128","authenticated-orcid":false,"given":"Francisco J.","family":"Romero-Ramirez","sequence":"additional","affiliation":[{"name":"Departamento de Teor\u00eda de la Se\u00f1al y Comunicaciones y Sistemas Telem\u00e1ticos y Computaci\u00f3n, Campus de Fuenlabrada, Universidad Rey Juan Carlos, 28942 Fuenlabrada, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8773-8571","authenticated-orcid":false,"given":"Rafael","family":"Mu\u00f1oz-Salinas","sequence":"additional","affiliation":[{"name":"Departamento de Inform\u00e1tica y An\u00e1lisis Num\u00e9rico, Edificio Einstein, Campus de Rabanales, Universidad de Co\u0155doba, 14071 C\u00f3rdoba, Spain"},{"name":"Instituto Maim\u00f3nides de Investigaci\u00f3n en Biomedicina (IMIBIC), Avenida Men\u00e9ndez Pidal s\/n, 14004 C\u00f3rdoba, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9294-6714","authenticated-orcid":false,"given":"Manuel J.","family":"Mar\u00edn-Jim\u00e9nez","sequence":"additional","affiliation":[{"name":"Departamento de Inform\u00e1tica y An\u00e1lisis Num\u00e9rico, Edificio Einstein, Campus de Rabanales, Universidad de Co\u0155doba, 14071 C\u00f3rdoba, Spain"},{"name":"Instituto Maim\u00f3nides de Investigaci\u00f3n en Biomedicina (IMIBIC), Avenida Men\u00e9ndez Pidal s\/n, 14004 C\u00f3rdoba, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4481-0614","authenticated-orcid":false,"given":"Rafael","family":"Medina-Carnicer","sequence":"additional","affiliation":[{"name":"Departamento de Inform\u00e1tica y An\u00e1lisis Num\u00e9rico, Edificio Einstein, Campus de Rabanales, Universidad de Co\u0155doba, 14071 C\u00f3rdoba, Spain"},{"name":"Instituto Maim\u00f3nides de Investigaci\u00f3n en Biomedicina (IMIBIC), Avenida Men\u00e9ndez Pidal s\/n, 14004 C\u00f3rdoba, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Shi, Y., Zhang, W., Yao, Z., Li, M., Liang, Z., Cao, Z., Zhang, H., and Huang, Q. 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