Humanoid robot indoor navigation based on 2D bar codes: application to the NAO robot

We put forward a method for humanoid robot indoor localization and navigation, using 2D bar codes, running on embedded hardware. Our approach is based on camera image processing and the detection of 2D bar codes stuck to the walls. The particularities of our approach are: it works without odometry, fast localization (≈1s) that allows for kidnapping and falls, and it does not require the manual edition of a map (thus no extra computer is needed).