Kevin, Mikael and Budiarto, Eka and Rusyadi, Rusman (2019) Indoor Positioning System Using Marker Tag. Bachelor thesis, Swiss German University.

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Abstract

Indoor navigation has been a challenge for a system to move from a location to another location. A good navigation requires a good positioning as the system moves along the way. This thesis presents about an indoor positioning system that uses vision system to detect an artificial marker called ArUco. By using ROS as the main control platform, a node has been created to control the positioning based on the message sent by reading the marker. The system is integrated with a moving camera system that will always update the position data as it finds marker on its movement, even when the object is not moving. By combining the system with odometry, the robot position is always updated and corrected when it finds a marker on its way. The result proves the system is usable and gives a good accuracy that is still in tolerable range for indoor navigation.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Indoor Positioning System ; Visual System ; ArUco ; ROS
Subjects:	T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Adityatama Ratangga
Date Deposited:	20 May 2020 07:06
Last Modified:	20 May 2020 07:06
URI:	http://repository.sgu.ac.id/id/eprint/687

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