Abstract: Based on four essential rules of how to design a landmark, a new style of landmark is proposed, that is a planar self-similar landmark based on QR code technology. The method to detect and recognize the landmark is studied. Based on camera calibration methods, the camera parameters are computed by finding the calibration points in the landmark, which can make the robot realize autonomous localization by only a single landmark. Experimental results show that the robot could locate and navigate fast and accurately using this style of landmark in a complex environment.

Key words: camera calibration, robot autonomous localization , artificial landmark