Firefighter Indoor Navigation using Distributed SLAM (FINDS)
Matthew Christopher Zubiel, Nicholas Alan Long · Digital WPI · 2012
This project encompassed the design of an image capture and processing unit utilized for indoor tracking and localization of first responders, namely firefighters. The design implemented a Simultaneous Localization and Mapping algorithm, used to track users based on imagery. To predict location, features from each image were identified in real-time, and the difference in the location of those features was tracked frame to frame. Our design consisted of a camera for image capture, an FGPA for real-time processing, and a Simultaneous Localization and Mapping algorithm. Testing consisted of two indoor scenario based tests: a straight line walk and a straight line walk with a 90 degree right turn. Both scenario tests were successful, and tracked our position in the indoor environment.