Real-Time Indoor Localization using Visual and Inertial Odometry
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open in viewerThis 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
- Publisher
- Identifier
- E-project-042914-111845
- Advisor
- Year
- 2014
- Date created
- 2014-04-29
- Resource type
- Major
- Rights statement
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Thumbnail | Title | Visibility | Embargo Release Date | Actions |
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Real-Time_Indoor_Localization_using_Visual_and_Inertial_Odometry.pdf | Public | Download |
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