A Localization Method Using Retro-re ective Markers and an IR Camera 1 Yusuke NAKAZATO 1 Masayuki KANBARA 1 Naokazu YOKOYA 1 Nara Institute of Science and Technology (NAIST) 1 , . . , GPS , . , [1] . , , . , [2] , , . , , , . , . 2 2.1 1 . . , LED . , . , ID , . 1 2 (N = 5) ( ) 2.2 2 . . N 2 N , 4 , . n = (N 0 2)2 , 2n02 ID . 2.3 4 , . ARToolKit[3] . 3 . , . N = 5, 300mm, 7:5mm . 3 , 4 . , ID . ,