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Basic Explanation
In this project, we used a very basic technique of localization. Special markers were prepared. These markers were detected using Computer Vision algorithms and the current position was back-calculated using the information extracted from the markers.
Markers were placed at different known coordinates within a rectangular room of dimensions 20 m by 20 m. A Logitech C905 webcam was used for vision and the central processor was BeagleBoard-xM. The markers were rectangles with a sequence of filled and hollow circles inside them indicating the position. This sequence was detected, decoded and looked up in a look-up table to report the position approached. The width of the circles was used as an indication of distance from the markers.
Markers
The markers were prepared in Adobe Photoshop CS3. The size was decided to be 80 cm X 100 cm. This was arr
