Description

Wheelphone makes a tour of the apartmenttakingsnapshot pictures and then returns back to thechargingstation.
This application shows the potentiality of the Wheelphone robotinan home environment. With the help of some target pointsidentifiedwith different markers, the Wheelphone robot is able tonavigatefrom one room to the other localizing itself; moreover ittakespictures and uploads them to a web page. When theWheelphonebattery is low it can automatically charge itself thanksto thedocking station.
There are two tabs: one illustrates some sensors values, thetargetdetection information (direction and orientation), thecurrentstate of the robot and some others information; the secondoneshows the camera view and when a frame target is detected aniceaugmented reality letter is visualized.
The application is designed for the following sequence:
1) the robot moves around looking for the docking station;oncedetected it approaches the docking station and charges itselffor awhile
2) the robot goes out of the charger, takes a picture and thenlooksaround for the first marker (living room); once detected itgoestowards the marker until it reaches it, rotates 180 degreesandtakes a picture
3) the robot looks for the next target (kitchen); once detecteditgoes towards the marker and takes a picture. Then the sequenceisrepeated.
In the "Robot" tab you can see the HTTP address to which toconnectin order to see the pictures taken by the robot.
Frame target detection is performed using the VuforiaAugmentedReality SDK (licenseagreements:https://developer.vuforia.com/legal/license).

More information about this application, how to use it andthesource code are available in the Wheelphonewikihttp://www.gctronic.com/doc/index.php/Android_software#Wheelphone_markers_navigation.

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