Marker-based method for recognition of camera position for mobile robots

Position recognition is one of the core technologies for driving a robot because of differ-ences in environment and rapidly changing situations. This study proposes a strategy for estimating the position of a camera mounted on a mobile robot. The proposed strategy comprises three meth-ods. The first is to directly acquire information (e.g., identification (ID), marker size and marker type) to recognize the position of the camera relative to the marker. The advantage of this marker system is that a combination of markers of different sizes or having different information may be used without having to update the internal parameters of the robot system even if the user fre-quently changes or adds to the marker’s identification information. In the second, two novel markers are proposed to consider the real environment in which real robots are applied: a nested marker and a hierarchical marker. These markers are proposed to improve the ability of the camera to recognize markers while the camera is moving on the mobile robot. The nested marker is effective for robots like drones, which land and take off vertically with respect to the ground. The hierarchical marker is suitable for robots that move horizontally with respect to the ground such as wheeled mobile robots. The third method is the calculation of the position of an added or moved marker based on a reference marker. This method automatically updates the positions of markers after con-sidering the change in the driving area of the mobile robot. Finally, the proposed methods were validated through experiments.