As augmented reality becomes a major research interest in robotics for communicating data, it is increasingly important that its localization challenges be addressed. This project aims to add an alternative tracking and localization solution using the Google Project Tango device. Our goal was to replace the typical motion capture lab with a mobile system that has theoretically infinite capture volume. We accomplished this using various image processing techniques and robotic software tools. After benchmark testing, we showed that our system could track within 3.2 degrees in orientation and 4 cm in position. Finally, we implemented a robotic following application based on this system that also incorporated a pan-tilt turret for the camera, all of which is mounted on a mobile robot.

• 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

• Dabrowski, Robert Patrick
• Costi, Matthew Stephen

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-121614-091414

Advisor

• Michalson, William R.

Year

• 2014

Center

• MIT Lincoln Laboratory-Lexington, Massachusetts Project Center - MQP

Sponsor

• MIT Lincoln Labs

Date created

• 2014-12-16

Resource type

• Major Qualifying Project

Major

• Interdisciplinary

Rights statement

• In Copyright