3D Point Cloud Generation Using IMU for Indoor Positioning
3D point clouds are graphs that show moving discreet objects in a 3 dimensional space as moving points. Such graphs are used in applications like defence and high security applications to keep track of moving objects or people. Earlier approaches of such applications were based on technologies like RFID which are limited in many aspects and practically useless in most applications. In this project a IMU along with wireless communication will be used for the same. An Inertial Measurement Unit (IMU) is a electronic device that includes up to 10 different measurements from various transducers to estimate the motion of an object in a 3D space. These measurements are then processed by a on-board processor that uses algorithms like EKF (extended kalmanfilters) to generate data that correspond to the motion of the object in 3D space. But without using a 3D plotting system the information from an IMU is practically useless for such applications. Hence in this project the raw data from an IMU is taken using a embedded system using SPI communication and the same is transmitted using a wireless link to a computer running a 3D plotting application to generate a point cloud of the moving object. Such point clouds are can be used for defence applications to keep track for soldiers in indoor warfare / outdoor ware fare. The same can also be used for high security prisons and even for many civil applications like keeping track for workers in underground mines etc.
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