By using the feature extraction technique, I built a object tracking system for indoor GPS. This tracking system is able to measure the position as well as the orientation (or attitude) information of the object of interest. The object tracking system is one of the modules for the RoboNaVi (Robot Navigation Vision System), an indoor autonomous robot test bed, which is intended to verify some new ideas in control theory, computer vision and operation research, such as the path planning problem. The whole system is built, embedded and driven by NI LabVIEW.

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