中文摘要：

优秀的路标设计，可以简化路标识别算法并提高机器人定位与导航的准确性和实时性。本文针对结构环境下的视觉导航系统，设计了一款多功能路标并给出了相应的应用算法。通过综合考虑拓扑结构、几何结构和色彩选取等的优化，设计的路标可以提供丰富的信息，而且具有较强的抗干扰能力。基于所设计的路标可以实现基于单帧图像中单个路标的机器人定位与导航，以及在大范围内基于序列路标的导航，并且可以准确估计序列路标中下一路标的位置。在具有较多干扰因素的大厅和走廊中进行的机器人定位与导航实验表明，即使采用未经校正的鱼眼镜头，机器人定位误差最大仍不超过5cm，示教再现导航误差最大不超过10cm；且在长距离导航实验中可实现方便、准确进行路标切换，有效提高导航的实时性和抗干扰性，证明了所设计路标的有效性。

英文摘要：

A kind of multi-function landmark, which is used for vision-based robot localization and naviga- tion,is designed in this paper. By optimizing the topological structure,the geometrical structure and the color selection, the designed landmark of this paper not only could provide plenty of information, but also has anti-interference ability. The designed landmark can locate and navigate the robot based on a single image using only one landmark. It can also navigate the robot in a large area using a series of landmarks in order to reduce the accumulative error. The position of each landmark of the series can be estimated accurately so as to improve the efficiency of navigation. Experiments in disturbing environments shown that even based on fish eye lens without camera rectification, using the designed landmark, the maximum error of robot localization is within 5 cm, and the maximum error of teaching and playback navigation is within 10 cm. Both the localization error and the navigation error are not accumulative. All these can ver- ify the efficiency of the landmark.