Project Type MQP Submission date 2012-04-24 Authors Nicholas Alan Long, nck_lng@WPI.EDU, ECE Matthew C Zubiel, ECE URN E-project-042412-202359 Title Firefighter Indoor Navigation using Distributed SLAM (FINDS) Advisors Cyganski, David, ECE Duckworth, R. James, EE Availability unrestricted
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.
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