标题：The Design of a Novel Artificial Label for Robot Navigation
作者：Wu, Hao; Tian, Guohui; Duan, Peng; Sang, Sen
作者机构：[Wu, Hao; Tian, Guohui; Duan, Peng; Sang, Sen] Shandong Univ, Sch Control Sci & Engn, Qianfoshan Branch, Jinan 250061, Shandong, Peoples R China.
会议名称：Chinese Intelligent Automation Conference (CIAC)
会议日期：AUG 23-25, 2013
来源：PROCEEDINGS OF 2013 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT AUTOMATION & INTELLIGENT TECHNOLOGY AND SYSTEMS
关键词：Artificial label; QR Code; Recognition; Camera
摘要：To assistant the localization and navigation of the robot, a novel artificial label based on QR Code technology is designed. This new label is made up of two sections: mode part and information part. Mode part is used to identify the artificial label and locate the robot. Information part is used to not only provide rich description information of the environment, but also provide effective navigation information to the robot. An algorithm based on shape and color is presented to recognize the label from far distance. The localization algorithm using vanishing line principle is designed to localize the artificial label quickly and accurately in the camera coordinates of the robot. The experiments demonstrate that the new artificial label has far recognition distance, large-scale recognition angle, good antidisturbance ability high decoding efficiency and stability even in the complex indoor environment.