Determining the precise position of devices over large spaces is a challenging problem. In this work, we provide an in-depth review of the Anoto micro-dot codec to solve this localization problem in the Euclidean plane. Starting from the preferred embodiment of the code used in many digital pen applications, we proceed to generalize the underlying principles to enable codes tailored to application-specific requirements. To facilitate working with these codes, we introduce a modern Python library named py-microdots to encode, decode and customize Anoto based patterns.

See https://github.com/cheind/py-microdots for additional information.