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WhyCon Manual

Notice: the manual is currently being updated and will correspond to the "unstable" branch which is targeted as next stable release in the following weeks. WhyCon will be presented in the ICAR2013 conference.

What is WhyCon

WhyCon is mainly a localization system targeted for mobile robotics, although it can be used to track the pose of an arbitrary target. The system is capable of detecting several targets very efficiently which are detected by a video camera. This can be used as a source for ground-truth data for experiments or for on-line pose information.

WhyCon is proposed as an alternative to widely used and expensive localization systems. It is fully open-source.

How does it work?

The base of the localization system is an efficient circular target (ring or roundel) detector. This efficiency allows for detection of hundred of targets above camera frame-rate. The targets can be easily printed on a B&W printer. A single target allows for obtaining 5DoF (3D position + 2 angles). When constrained on planar (ground) motions, the precision can be further improved.

For implementation details, see upcoming article presented at ICAR2013.

How do I use it?

See a step-by-step tutorial [here](WhyCon Usage). Technical details and reference are available [here](WhyCon Reference)

Roadmap (or: will you add support for X?)

Several features are being worked on and others are considered for extensions to the current algorithm. You can see the roadmap here.