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The field of robotic vision is developing rapidly. Robots can reactintelligently and provide assistance to user activities through sentientcomputing. Since industrial applications pose complex requirements that cannotbe handled by humans, an efficient low cost and robust technique is requiredfor the tracking of mobile industrial robots. The existing sensor basedtechniques for mobile robot tracking are expensive and complex to deploy,configure and maintain. Also some of them demand dedicated and often expensivehardware. This paper presents a low cost vision based technique called HybridFiducial Mark Tracking (HFMT) technique for tracking mobile industrial robot.HFMT technique requires off-the-shelf hardware (CCD cameras) and printable 2-Dcircular marks used as fiducials for tracking a mobile industrial robot on apre-defined path. This proposed technique allows the robot to track on apredefined path by using fiducials for the detection of Right and Left turns onthe path and White Strip for tracking the path. The HFMT technique isimplemented and tested on an indoor mobile robot at our laboratory.Experimental results from robot navigating in real environments have confirmedthat our approach is simple and robust and can be adopted in any hostileindustrial environment where humans are unable to work.

A Low Cost Vision Based Hybrid Fiducial Mark Tracking Technique for Mobile Industrial Robots