关键词: 人工地标, QR Code, 消影线, 机器人定位与导航

Abstract:

The artificial  landmark is an important auxiliary method for robot localization and navigation. A kind of new artificial landmark based on QR Code(quick response code) technology was proposed. This new landmark not only stores rich environment information, but also provides effective pose information to the robot. An algorithm based on shape and color of the landmark was presented in order that the landmark could be recognized by the robot in the far distance. The localization algorithm using the vanishing line principle was designed to locate the artificial landmark quickly and accurately in the camera coordinates of the robot. A control scheme including searching in the far distance, recognition, localization and reading landmarks was proposed, which laid a solid foundation for robot autonomous localization and navigation. Experiments demonstrated that the new landmark had far recognition distance, high recognition speed, high positioning precision,high decoding efficiency and stability even in a complex indoor environment.

Key words: artificial landmark, QR Code, vanishing line, robot localization and navigation