Wheelphone target docking

The Wheelphone robot has the opportunity to charge itself automatically with the help of the docking station.
This application is an example of using frame targets detection to let the robot reach the docking station and charge itself.
There are two tabs: one illustrates some sensors values, the target detection information (coordinates and orientation), the current state of the robot and some others information; the second one shows the camera view and when a frame target placed on the charger station is detected a nice augmented reality letter (C or Q depending on the target) is viusalized.
The application is designed for the following sequence:
1) the robot move around looking for the docking station
2) once a target is detected the robot starts going towards it; there are two targets on the charger station, one big (to be detected at long distance) and the other small (to be detected when the robot arrives near the docking station)
3) when the robot approaches the docking station, it try applying some little movements until the contact is fully accomplished
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/Android_software#Wheelphone_target_docking.

[Autonomous docking group]