Initial location calibration of home service robot based on 2-dimensional codes landmarks

Inspired by the calibration of industrial manipulators, we propose an economical and convenient initial location calibration solution for home service robot in this paper. With 2D codes landmarks deployed on the floor, the robot can calculate its location after 2D codes decoding and coordinate transformation. However, how to find a landmark autonomously and efficiently is an issue. Two search strategies are presented in this paper. Given no information of the robot's surroundings, the robot adopts a blind search strategy to find a 2D code landmark nearby. In order to improve the search efficiency, we propose a vision-based search strategy. With Kinect RGB camera, the robot firstly estimates the location of the nearest landmark to reduce the time consumed on blind search strategy. The experiments results validate the feasibility of our solution.