# Ground Based Fudicials or Something Similar **URL:** \ **Category:** General Questions\ **Created:** [October 16, 2020, 4:16pm UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653 "2020-10-16T16:16:21Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![jywilson](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/j/a9adbd/32.png) [@jywilson](https://forum.ubiquityrobotics.com/u/jywilson)\ **Post date:** [October 16, 2020, 4:16pm UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/1 "2020-10-16T16:16:21Z")
I would like to use the Magni with an Intel RealSense tracking camera (T265). At the end of the test sequence when I return to the start position I need a way to correct the loop closure error and restart from a known position. Our ceilings are very high (warehouse) and fudicials won’t work. Do you have any suggestions for a ground marking? Would fudicials work if the camera was pointed downward? Thanks, Jim W. ---
**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\ **Post date:** [October 18, 2020, 9:01am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/2 "2020-10-18T09:01:58Z")
We are working on a ground based fiducial system. Please send an email to [support@ubiquityrobotics.com](mailto:support@ubiquityrobotics.com) and we can better discuss your specific need. Suggest you say Attention David and Vid in the subject line. Mark ---
**Author:** ![jywilson](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/j/a9adbd/32.png) [@jywilson](https://forum.ubiquityrobotics.com/u/jywilson)\ **Post date:** [October 19, 2020, 4:14pm UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/3 "2020-10-19T16:14:20Z")
Okay, thanks. I sent the email as you suggested. ---
**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\ **Post date:** [October 21, 2020, 9:33am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/4 "2020-10-21T09:33:58Z")
Yes, we see it and as you know are responding. I think we will have a solution that may meet your needs. Continue this thread on the emails. Take care and stay healthy, Mark ---
**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\ **Post date:** [November 16, 2020, 5:44am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/5 "2020-11-16T05:44:24Z")
@jywilson We now have come along nicely in the floor fiducial product. I know I asked you to send to our support email and maybe somebody else answered but I seem to not be getting support emails and have to work that out. Please send me your contact info for email to a different email address of mine which I will get that is the first letter of my first and last name, mark johnston, followed by @ubiquityrobotics.com Sorry for encoding but its a humble attempt to minimize really easy ‘invite’ for spam. Thanks. I will share a demo video. ---
**Author:** ![chrissunny94](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/57b2e6/32.png) [@chrissunny94](https://forum.ubiquityrobotics.com/u/chrissunny94)\ **Post date:** [November 24, 2020, 9:35am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/6 "2020-11-24T09:35:05Z")
> **[GitHub - chrissunny94/t265\_robot\_navigation: Using a Intel Realsense T265 to build an occupancy...](https://github.com/chrissunny94/t265_robot_navigation)** > > Using a Intel Realsense T265 to build an occupancy grid and autonomously navigate around using move\_base I have put together code for **t265 +d435** along with move\_base , i hope someone finds it helpful . ---
**Author:** ![mjstn2011](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/mjstn2011/32/30_2.png) [@mjstn2011](https://forum.ubiquityrobotics.com/u/mjstn2011)\ **Post date:** [November 24, 2020, 10:59am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/7 "2020-11-24T10:59:19Z")
If you could do this same post but as a completely new forum post it would get better visibility to people. Have a completely new title for that thread like ‘Using Realsense T265 to build occupancy grid and navigate with move\_base’. This sounds like a really great post so should be right at the top so people see it. They will not see it here because this thread is on a very different form of navigation. Very cool, thanks for posting. Mark ---
**Author:** ![chrissunny94](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/c/57b2e6/32.png) [@chrissunny94](https://forum.ubiquityrobotics.com/u/chrissunny94)\ **Post date:** [November 27, 2020, 2:18am UTC](https://forum.ubiquityrobotics.com/t/ground-based-fudicials-or-something-similar/653/8 "2020-11-27T02:18:08Z")
okay . I will do that .