Determining robot relative position using Augmented Reality algorithm

[night_soul]

Hello,

I want to be able to extract the relative position and orientation from a robot respect to the camera, the robot has mounted ir leds which will do the function of  the marker, once all the leds are identified on the image I want to extract the relative position from the position of this detected "dots". I am using Opencv for the blob extraction and i want to try to use the library for augmented reality ARToolkit.

Another idea is to use the infrared camera from the Wii remote controller that gives me the position of  up to 4 ir dots and extract the position from this dots. Have anyone used this library or has tried to implement an algorithm to compute the position of a marker from a single camera?

Thanks

Jacob