We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an accuracy of about 1.1 cm for the position and around 0.6 {\deg} for the orientation in the mean. Our system is real-time capable with a soft deadline of 20 ms. Moreover, it is robust against changing lighting conditions and reflections.
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