A new way to detect the position and orientation of the wheeled mobile robot on the image plane

In this paper, a new method to detect wheeled mobile robot´s position and orientation is proposed. First, we paste a black rectangle board on the head of the robot as a mark, whose long side is parallel to the robot´s orientation. And then on the image plane, we use CAMShift to track the robot after some pre-processing. We will get a search window which includes the target robot only by the use of the CAMShift algorithm. The search window´s center is approximately identical to the robot´s geometry center. Then we take appropriate approach (here we use the OpenCV function directly) to detect the angle between the black rectangle board´s long side and the X axle of the image coordinate on the image plane, there we can get the robot´s orientation.