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Did you write image recognition from scratch yourselves, or is it based on a lib?

It's actually based on the ambient Wi-Fi signature of the airwaves around you. There is no image recognition involved!

Ah ok, so the *floorplan you supply just acts as a "background/walking-guide" for your mapping?

yup, that's right

Ok, thanks. Was looking for a img rec lib for floorplan drawings when I fell upon your post - hence the question.