Optimal Landmark Pattern for PreciseMobile Robots Dead-reckoning

The aim of this work is to determine the best landmark for its use in tasks such as precise positioning of AGVs or mobile robots in front of loading / unloading areas. The work developed aims at determining the precision that can be achieved with different pattern landmarks, of use in positioning systems, based on computer vision. Different computer vision algorithms have been tested from the images acquired from different camera configurations and bending angles with respect to the vertical axis. As a result of the evaluation of these errors, we extract the recommendation of the most favourable bicolour pattern to be used, as well as the bounding errors obtained from the segmentation and recognition methods most frequently used.