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Hi, I have some questions:

> 3d position accuracy: currently ~10mm; less than 2mm possible with additional work.

Could you outline what is required to take your solution from 10mm to 2mm accuracy? what factors limit maximum accuracy?

Presumably the lighthouse-derived position could be fused with IMU data for better temporal accuracy. Does your drone software do that?

Thanks!

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The geometry calculation is currently approximate, not taking into account that the laser planes have ~3cm offset from center, that's one. Timing precision is probably the next one - microseconds might not be enough and we can measure better.

Currently std dev of each position coord in rest is 1.9mm.

Fusion with IMU is the next level and is usually done later down the line because it needs to be tuned for particular model. Yes, the drone does that.

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