A hybrid field of view vision system for efficient robot self-localization with QR codes

Abstract

This paper presents an outcome of experiments on a self-localization system for small mobile robots that involves the use of QR codes as artificial landmarks. The QR codes are employed for the double purpose of localization marks and data carriers for navigation-relevant informations. As we want to make our robots autonomous and independent from external cameras for localization, we investigate the use of an omnidirectional vision system. Then, we demonstrate that a hybrid solution consisting of an omnidirectional camera with a mirror and a classic front-view camera provides better localization results and application flexibility than either of these configurations applied alone. The hybrid vision system is inspired by the peripheral and foveal vision cooperation in animals. We demonstrate that the omnidirectional camera enables the robot to detect quickly landmark candidates and track the already recognized QR codes, while the front-view camera guided by the omnidirectional information enables precise measurements of the landmark position over extended distances and reading of the extra data carried by the QR code.