The aim of this paper is to describe the architecture and the working principles of a novel InfraRed (IR) optical-based distributed system, designed to perform low-cost indoor coordinate measurements of large-size objects. The hardware/software architecture and system functionalities are discussed, focusing the attention on the integration of methods for distributed network configuration, sensors self-calibration, 3D point localization, and data processing. A preliminary performance evaluation of the sensor devices as well as of the overall measuring system is carried out by discussing the experimental results obtained with a system prototype.

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