The artificial landmark design for mobile robots localization and mapping

摘要

Nowadays the big challenge in simultaneous localization and mapping (SLAM) of mobile robots is the creation of efficient and robust algorithms. Big amount of SLAM methods use computer vision for extraction of unique environment features from camera images (feature-based approach). In some cases, artificial landmarks are being used to simplify environment markup (landmark-based approach). In this paper we introduce a new QR-like color artificial landmark design and algorithm for fast detecting and tracking them in arbitrary images.