Our project goal was to estimate the position and orientation of a simple robot relative to a known visible beacon with a single calibrated camera and wheel encoder measurements. Using this estimate, we will be able to move to any specified position in sight of the beacon. We will also be able to determine and map the location of a track cone in relation to the robot and the visible beacon.

Our team implemented the OpenCV and Newmat matrix libraries to  realize a C++ application that handles the vision processing. We constructed a robot with a pan and tilt unit to act as a test platform of this project.  The robot was also used as IEEE Robotics Robomagellan Robot. 

 Our final report can be found here.

A copy of our source code can be found here.  

A short video  showing how the robot works  can be found here. 

Attachments:

Final_Report.pdf

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