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Abstract: For certain experiments in mobile robotics, it is convenient to eliminate positional estimation error in the interest of analyzing other parts of the experiment. We designed and implemented a simple, accurate scheme for encoding and recovering absolute position information. The encoding is a two-dimensional image printed on the plane of the floor, and the absolute position information is recovered using a downward-looking video camera mounted on a mobile robot.

Note: This document describes work done in the Dartmouth Robotics Laboratory in April of 1997 and August of 1999. It was previously ``published'' as a web page, but we thought it would make sense to document it more permanently.

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   Jon Howell and Keith Kotay, "Landmarks for absolute localization." Dartmouth Computer Science Technical Report TR2000-364, March 2000.

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