2D code for mobile robot localization and navigation in indoor environments

Based on the concept of the matrix-type 2D code, the paper proposes a new 2D code for mobile robot (MR) localization and object recognition in indoor environments-MR 2D code. The information of the 2D code is expressed by the matrix pattern and the outline of MR 2D code was designed based on the shape invariant theory, which guarantees its robustness of extracting. The number of interior unit modules can be chosen as required, thus the enough information for robot localizing and object recognizing can be provided. The BCH code is used for coding and decoding, so MR 2D code has the correcting function which can overcome recognition errors caused by changes of light condition. The experiments verified the effectiveness of MR 2D code as a kind of artificial landmark.