Faculty Advisor

Cyganski, David

Faculty Advisor

Duckworth, R. James


This project encompassed the design of an image capture and processing unit utilized for indoor tracking and localization of first responders, namely firefighters. The design implemented a Simultaneous Localization and Mapping algorithm, used to track users based on imagery. To predict location, features from each image were identified in real-time, and the difference in the location of those features was tracked frame to frame. Our design consisted of a camera for image capture, an FGPA for real-time processing, and a Simultaneous Localization and Mapping algorithm. Testing consisted of two indoor scenario based tests: a straight line walk and a straight line walk with a 90 degree right turn. Both scenario tests were successful, and tracked our position in the indoor environment.


Worcester Polytechnic Institute

Date Accepted

April 2012


Electrical and Computer Engineering

Project Type

Major Qualifying Project



Advisor Department


Advisor Department

Electrical and Computer Engineering