  The Lighthouse system was originally developed as tracking system for virtual
reality applications. Due to its affordable price, it has also found attractive
use-cases in robotics in the past. However, existing works frequently rely on
the centralized official tracking software, which make the solution less
attractive for UAV swarms. In this work, we consider an open-source tracking
software that can run onboard small Unmanned Aerial Vehicles (UAVs) in
real-time and enable distributed swarming algorithms. We provide a dataset
specifically for the use cases i) flight; and ii) as ground truth for other
commonly-used distributed swarming localization systems such as ultra-wideband.
We then use this dataset to analyze both accuracy and precision of the
Lighthouse system in different use-cases. To our knowledge, we are the first to
compare two different Lighthouse hardware versions with a motion capture system
and the first to analyze the accuracy using tracking software that runs onboard
a microcontroller.
