Dynamic tracking with AprilTags for robotic education
Name
864440992-MIT.pdf
Description
Full printable version
Size
1.82 MB
Format
Adobe PDF
Checksum (MD5)
aaf8873e51c416630690e27890cecd08
Author(s)
Maragh, Janille Maria
Advisor(s)
John J. Leonard.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
This thesis describes and portrays the use of AprilTags, 2D tools used for the identification of locations in 3D space, to control the position and angular velocity of a rotating object by way of a PD controller. This project also sought to determine the upper limits of the usefulness of AprilTags while on moving objects, that is, the highest velocities at which AprilTags can be detected by a low-cost USB camera. The resulting project may be used for a classroom demonstration, which shows how AprilTags may be used as a means of sensing. When effective, AprilTags can be used to measure the position and angle of an object or location, and they are much more inexpensive than alternative solutions, for example, encoders.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (page [22]).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
Persistent DSpace Link
