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We are using Aruco Marker for defining center of the world. We are using Aruco Marker ID 0 from configuration 5x5, 250

A printable PDF version can be found at

A cleaner version (recommended) is

Localization Module¤

The localization module in ROAR offers the global coordinate of the vehicle at real time with ARUCO Marker and two cameras on the vehicle (D435i and t265). You can check out an introduction and setup instruction video from below:


Some other resources include: