Document Type

Technical Report

Publication Date


Technical Report Number



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.


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.