This project encompassed the design of a mobile, real-time localization device for use in an indoor environment. A system was designed and constructed using visual and inertial odometry methods to meet the project requirements. Stereoscopic image features were detected through a C++ Sobel filter implementation and matched. An inertial measurement unit (IMU) provided raw acceleration and rotation coordinates which were transformed into a global frame of reference. A Kalman filter produced motion approximations from the input data and transmitted the Kalman position state coordinates via a radio transceiver to a remote base station. This station used a graphical user interface to map the incoming coordinates.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Kumar, Surabhi
• Dapshi, Elvis Arben
• Brevig, Kai O.
• Anderson, Benjamin Haven
• Collins, Benjamin Marts

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042914-111845

Advisor

• Padir, Taskin
• Duckworth, R. James

Year

• 2014

Date created

• 2014-04-29

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering

Rights statement

• In Copyright