Marker Detection Algorithm for the Navigation of a Mobile Robot

This article discusses a vision system for recognizing fiducial markers including the ARTag type. The system was developed to navigate a mobile robot. It is an alternative solution to replace algorithms based on GPS signals. The paper describes the algorithm for detecting markers in detail. The developed system was tested under various field and lighting conditions. The paper presents obtained results of tests checking the correctness of estimating the distance from the camera to the marker.