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The purpose of this work is the development of a bidirectional docking system for autonomous robots (such as drones or rovers). The project involves setting up the previously developed work (available here: A docking method for Otto, based on 2D datamatrices), which will be validated using the error with respect to the measured ground truth, in order to have a starting point. The core of the development is based on the calculation of the 6 degrees of freedom spatial pose by exploiting QR code recognition. The central aspect is the simultaneous use of multiple sensors (onboard the vehicle and on the docking station). Observing each other reciprocally, the system fuses the data taking into consideration their respective uncertainty estimates, in order to compensate for general errors and calculate a better pose estimate. The accuracy of the entire system will finally be validated using the error with respect to the measured ground truth.