Title :
Wearable System for the Localization of Shipping Containers in a Maritime Terminal
Author :
Herrera, Edith Pulido ; Ribo, Miguel ; Pinz, Axel ; Quiros, Ricardo ; Fabregat, German
Author_Institution :
Univ. Jaume I, Castellon
Abstract :
Navigation systems are currently used in a wide set of applications. The work we present shows their role in an augmented reality system whose aim is obtaining on-line information for containers in a storage terminal. We describe a first prototype that combines spatial location devices and image processing to satisfy the fore mentioned task. Our development integrates a compass to obtain the Euler angles and a GPS to provide the system location in the terminal to identify which set of containers is facing the vision subsystem. The fusion of the data from the sensor has been by means of an extended Kalman filter. Offline characterization of this device and set of outdoor test shown how a good choice of the filter parameters can give an accurate enough estimation of the system orientation
Keywords :
Global Positioning System; Kalman filters; augmented reality; image processing; sensor fusion; Euler angles; augmented reality system; data fusion; extended Kalman filter; global positioning system; image processing; maritime terminal; navigation systems; online information; shipping containers; spatial location devices; storage terminal; vision subsystem; wearable system; Augmented reality; Containers; Filters; Global Positioning System; Image processing; Navigation; Prototypes; Sensor fusion; Sensor phenomena and characterization; System testing; Extended Kalman Filter; GPS; Inertial Sensors;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2006. IMTC 2006. Proceedings of the IEEE
Conference_Location :
Sorrento
Print_ISBN :
0-7803-9359-7
Electronic_ISBN :
1091-5281
DOI :
10.1109/IMTC.2006.328633
