A Robot Indoor Position and Orientation Method based on 2D Barcode Landmark

摘要

Abstract—A method for robot indoor automatic positioning and orientating based on two-dimensional (2D) barcode landmark is proposed. By using the scheme of the 2D barcode for reference, a special landmark is designed which is convenient to operate and easy to recognize, contain coordinates of their absolute positions and have some ability to automatically correct errors. Landmarks are placed over the “ceiling ” and photographed by a camera mounted on the robot with its optical axis vertical to the ceiling plane. The coordinates and angle of the landmark is acquired through image segmentation, contour extracting, characteristic curves matching and landmark properties identifying, and then the robot’s current absolute position and heading angle is computed. The experiments proved the effectiveness of the method and shows that the method can meet accuracy requirements of indoor position and orientation. Index Terms—indoor positioning and orientating, landmark, ceiling, computer vision, two-dimension barcode I.