Faculty Advisor

Michalson, William R.

Project Center

MIT Lincoln Laboratory-Lexington, Massachusetts


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.


Worcester Polytechnic Institute

Date Accepted

December 2014


Computer Science


Robotics Engineering

Project Type

Major Qualifying Project



Advisor Department

Electrical and Computer Engineering

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