Combining Cameras, Magnetometers and Machine-Learning into a Close-Range Localization System for Docking and Homing
OCEANS-IEEE(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.
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Key words
homing,3d space,visual marker,monocular camera,input modalities,robotic vehicle,precision positioning tasks,multimodal short-range navigation system,docking,close-range localization system,machine-learning,3-axis magnetometers
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