Faculty Advisor

Michalson, William R.

Center

MIT Lincoln Laboratory-Lexington, Massachusetts

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

December 2014

Major

Computer Science

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Project Center

MIT Lincoln Laboratory-Lexington, Massachusetts

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