QR Code And Its Applications On Robot Self-localization

The QR code has been widely applied to various industries as an information carrier. It avoids the defects in the one-dimensional code storage, such as error correction capability, it has a high information capacity, high reliability, easy reading, and can be provided for the encryption feature as well as lower cost. These characteristics make it widely used. This thesis describes the general applications of two-dimensional code and designed a QR code decoding system which can identify QR code n case of a shadow, long distance and inclined. Then applied the system in Nao robots’ self-localization.The main contents of this thesis has the following sections:Firstly, studied the coding theory of QR code and then designed the coding system.Secondly, According to the literature have read, studied the two-dimensional code area coarse positioning algorithm in the background image and then designed a coarse positioning algorithm for QR code. By the combination of morphological image processing and least squares method for precise positioning of the QR code. Compared with the traditional location algorithm, method in this thesis has superiority in execution time. The system in this thesis can effectively recognize the QR code in contamination, uneven illumination and distortion conditions.Finally, applied the decoder system in the self-localization of Nao. Designed a robot self-localization algorithm by the transformation between the coordinate system and designed the search strategy of finding QR code. Experimental results show that we will have an accurate result when has a closer distance.The evaluation for robot’s self-localization shows that the self-localization algorithm has good accuracy.