Motion Estimation of a Hand-held Mine Detector

This paper presents the results of simulating position estimation from a camera-based system integrated in a hand-held mine detector. The system reports positions of the sensor head relative to a bar placed on the ground by the deminer to indicate the safe limit. Monitoring the position during sensor scanning enables image reconstruction of the captured signals. Image representation allows object shape analysis and easy target localization. The simulation has considered several configurations including one or two cameras, one or no accelerometer and a 1 or 2-dimensional reference lattice on the bar. The required accuracy of the positioning system in our application is +/0.5 cm in each direction.