On the application of QR codes for robust self-localization of mobile robots in various application scenarios

Abstract

This paper presents an experimental analysis of the application of QR matrix codes as landmarks for mobile robot navigation. The QR codes not only provide means for positioning in reference to a global coordinate system over a wide range of viewing configurations, but they may also carry useful information that can be easily read by means of a low-cost camera. Moreover, QR codes can be applied on the mobile robots themselves, providing means for co-operation between the robots and the intelligent environment infrastructure (external cameras). Implementation of these tasks requires to determine how big the landmarks should be, how far from the robot they can be located, at which incidence angles, etc. In the paper we study methods to determine the location of the QR code-based landmarks in two practical setups related to mobile robot navigation. We demonstrate experimental results as to the maximum range of detection of the landmarks and the precision of localization available using off-the-shelf cameras.