Publication
Combining Cameras, Magnetometers and Machine-Learning into a Close-Range Localization System for Docking and Homing
Marc Hildebrandt; Leif Christensen; Frank Kirchner
In: MTS/IEEE Oceans 2017 Anchorage. OCEANS MTS/IEEE Conference (OCEANS-2017), September 18-21, Anchorage, Alaska, USA, IEEE, 9/2017.
Abstract
In this work we are describing a multi-modal short-
range navigation system for precision positioning tasks such
as docking of a robotic vehicle in 3d space. The two input
modalities, a monocular camera tracking a visual marker and an
array of 3-axis magnetometers tracking a magnet, were chosen
to cover a wide range of environmental conditions in order to
increase the versatility and robustness of the navigation system.
A comprehensive analysis of the individual components of the
system is provided, resulting in a reliable estimate of its real-
world applicability.