Wheelphone markers navigation

Wheelphone makes a tour of the apartment taking snapshot pictures and then returns back to the charging station.

This application shows the potentiality of the Wheelphone robot in an home environment. With the help of some target points identified with different markers, the Wheelphone robot is able to navigate from one room to the other localizing itself; moreover it takes pictures and uploads them to a web page. When the Wheelphone battery is low it can automatically charge itself thanks to the docking station.

There are two tabs: one illustrates some sensors values, the target detection information (direction and orientation), the current state of the robot and some others information; the second one shows the camera view and when a frame target is detected a nice augmented reality letter is visualized.

The application is designed for the following sequence:

1) the robot moves around looking for the docking station; once detected it approaches the docking station and charges itself for a while

2) the robot goes out of the charger, takes a picture and then looks around for the first marker (living room); once detected it goes towards the marker until it reaches it, rotates 180 degrees and takes a picture

3) the robot looks for the next target (kitchen); once detected it goes towards the marker and takes a picture. Then the sequence is repeated.

In the "Robot" tab you can see the HTTP address to which to connect in order to see the pictures taken by the robot.

Frame target detection is performed using the Vuforia Augmented Reality SDK (license agreements: https://developer.vuforia.com/legal/license).

More information about this application, how to use it and the source code are available in the Wheelphone wiki http://www.gctronic.com/doc/index.php/Android_software#Wheelphone_markers_navigation.

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