Wheelphone Markers Navigation app for iPhone and iPad

The Wheelphone robot makes a tour of the apartment taking snapshot pictures and then returns back to the charging station.
This application shows the potentiality of the Wheelphone robot in an home environment. With the help of some target points identified with different markers, the Wheelphone robot is able to navigate from one room to the other localizing itself; moreover it takes pictures and uploads them to a web page (iphone-ip:12345). When the Wheelphone battery is low it can automatically charge itself thanks to the docking station.
The application is designed for the following sequence:
1) the robot moves around looking for the docking station; once detected it approaches the docking station and charges itself for a while
2) the robot goes out of the charger, takes a picture and then looks around for the first marker (living room); once detected it goes towards the marker until it reaches it, rotates 180 degrees and takes a picture
3) the robot looks for the next target (kitchen); once detected it goes towards the marker and takes a picture. Then the sequence is repeated.
Frame target detection is performed using the Vuforia Augmented Reality SDK (license agreements: https://developer.vuforia.com/legal/license).
More information about this application, how to use it and the source code are available in the Wheelphone wiki http://www.gctronic.com/doc/index.php/IPhone_software#iWheel_semester_project.