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README.md

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 # Inspection of Ground Embedded Runway Lights through Monoscopic Camera via Mobile Robotics
 
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 The aim of this work was to investigate the potential of an automated solution for inspection of ground-embedded runway-lights, with no humans-in-the-loop. A prototype differential-drive mobile robot featuring two monoscopic cameras, communicating with a database of positions from ground-embedded runway-lights was built and tested on an airport. Tests indicated promising results for further research and expansion of the current robotic-platform-solution as a functional and viable solution for automatic inspection of runway-lights. Accuracy test requirements demanded a maximum distance error of 15 meters with a maximum angular error of 2.9°. Results showed the robot was able to maneuver around a predefined path with a mean heading angular error of 1.6°. Runway light-detection test of a set of 58 runway-lights concluded on a 6 meter accuracy, with a maximum angular error of 1.7°. Both of these results within the required specifications. The significance of these results demonstrate the viability of this paper's robotic system in runway light-detection within minimum specification, as well as usage of the detection methods to determine which lights need human intervention for replacement or maintenance.
 
 ## 1. Introduction