Quadcopter indoor position tracking systems

For indoor positioning there are usually two approaches:
 - Use of an external tracking system (e.g. VICON, OptiTrack, AR-Track)
 - Use of cameras on the UAV and application of SLAM algorithms
 I'm interested in external tracking systems that doesn't rely on an expensive motion capture setup. Do they exist?
 It would be great if you could share your experiences with those tracking systems.

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Shivchand Jaysaval liked Shivchand Jaysaval's profile
Aug 25