Wearable System for the Localization of Shipping Containers in a Maritime Terminal

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. Off line 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