After work today I will measure the upstairs for a basic map and then the fixtures that are semi permanent downstairs. My goals here are to make a complex environment more simple so the robot does not completely rely on sensors to determine position and environment. Some things are static in the environment and by making those "hard boundaries" I can simplify a space. I did see an idea to outline permenant objects with magnetic tape but that requires a custom sensors to see so I will stick that in my back pocket behind the northstar beacon methods.

As for the camera I believe I may need to wait until the EZB v4 cam is available because I'm very fond of the built in connection. Otherwise I can use the dongle until then for testing and development. I will need to solder up a IR illuminator and hopefully I have enough leds to make a prototype.