A new proposal for self-localization of mobile robot by self-contained 2D barcode landmark

摘要

This paper deals with a new 2D barcode based landmark system for self-localization of mobile robots. The most significant feature of the landmark proposed by the author is full self-containedness, in other words, it doesn't require any extra database nor mechanism such as internet connection because its own physical position, posture and size in the world coordinate system are all encoded in itself. In addition, thanks to using ISO/IEC 18004 standard known as “QR code” for the propsed method, code detection is considered to be suitable for robots and robust against noise. The author show some preliminary experiments including kidnapping problem.