Evaluation of a Low Power Computer Vision Based Positioning System for a Handheld Landmine Detector using AprilTag Markers - Supporting Data

A positioning system employing visual fiducial markers (AprilTags) has been implemented for use with handheld mine detection equipment. To be suitable for a battery powered real-time application, the system has been designed to operate at low-power (<100 mW), and frame-rates between 30 and 50 fps. The system has been integrated into an experimental dual mode detector system. Position indexed metal detector and ground penetrating radar data from laboratory and field trials are presented. The accuracy and precision of the vision based system are found to be 1.2 cm and 0.5 cm respectively.