Faculty Advisor

Duckworth, R. James

Faculty Advisor

Padir, Taskin

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2014

Major

Electrical and Computer Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

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