Mobile robot localization and object description

The indoor localization of the robot is key issue to successful navigation. In the paper there is description of optical based localization methods and the image processing methods that can provide valuable information during localization and navigation process of mobile robot. These methods can be used as well as for tracking of moveable object as well as for description stationary objects in the scenery. The localization can be enhanced by artificial landmarks, for object description can be used tags e.g. QR codes. The paper describes low cost implementation of supportive localization system based on Raspberry Pi and Pi Camera platform. The OpenCV library is used for image processing and pattern matching.