how to use infrared camera to detect position/depth of beacons individually

Hi all, I wanted to make a VR controller that uses an 9DoF IMU to get orientation of a left remote and right remote, and a vr camera on a headset along with beacons on the remotes to individually get the left and right controllers position/depth, without mixing them up. I can handle the IMU part as I have done so before, yet I am fairly new when it comes to infrared cameras and beacons.

Could anyone link me to a good tutorial on how to use those devices to return position and depth? In the end I would like to parse the values into the game service unity and play a custom VR game. All input is appreciated. Thank you! =)