中文摘要：

借鉴矩阵式二维码的思想，提出了一种新的适用于移动机器人（MR）进行目标识别与定位的二维码——MR二维码。该二维码以排列成矩阵的图案表达信息；其基于形状不变量理论设计的外轮廓，可保证对其进行提取时的鲁棒性；内部单元模块数量可以根据需要进行选择，从而可以为移动机器人进行目标识别与定位提供足够的信息；采用BCH码作为编解码方式具有纠错功能，可以克服光照变化引起的误识。实验结果表明，MR二维码作为一种人工标志具有很好的实用性。

英文摘要：

Based on the concept of the matrix-type 2D code, the paper proposes a new 2D code for mobile robot （MR） localization and object recognition in indoor environments MR 2D code. The information of the 2D code is expressed by the matrix pattern and the outline of MR 2D code was designed based on the shape invariant theory, which guarantees its robustness of extracting. The number of interior unit modules can be chosen as required, thus the enough information for robot localizing and object recognizing can be provided. The BCH code is used for coding and decoding, so MR 2D code has the correcting function which can overcome recognition errors caused by changes of light condition. The experiments verified the effectiveness of MR 2D code as a kind of artificial landmark.