Fig. 1. Dense point cloud formed by magnetic dipole positioning results in the recognition area

Fig. 2. Technical route of multi-target adaptive PR detection for magnetic dipoles

Fig. 3. Schematic diagram of multi-target magnetic dipoles

Fig. 4. Recognition results of MGT， MMA， NSS and CT in the 10 m×10 m survey area

Fig. 5. Magnetic dipole identification area delineated by improved tilt angles θ_NSSTilt and θ_CTTilt （contour threshold 0）

Fig. 6. Dense point cloud formed by the solution set of the initial position of the target in the recognition area

Fig. 7. Adaptive clustering results of AFCM algorithm for initial position point cloud

Fig. 8. Experiment 1： grid positioning of five magnets

Fig. 9. MGT， MMA， NSS and CT recognition results of five small magnets

Fig. 10. Recognition area of 5 magnet objects delineated by θ_NSSTilt and θ_CTTilt （contour threshold 0）

Fig. 11. Single-point positioning dense point cloud and AFCM clustering results in the recognition area

Fig. 12. Experiment 2： grid positioning of four magnets

Fig. 13. MGT， MMA， NSS and CT recognition results of four small magnets

Fig. 14. Recognition area of 4 magnet objects delineated by θ_NSSTilt and θ_CTTilt （contour threshold 0.3）

Fig. 15. AFCM clustering results of four magents in the recognition area