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In this paper, we propose a method to estimate the exact location of a camerain a cyber-physical system using the exact geographic coordinates of fourfeature points stored in QR codes(Quick response codes) and the pixelcoordinates of four feature points analyzed from the QR code images taken bythe camera. Firstly, the P4P(Perspective 4 Points) algorithm is designed touniquely determine the initial pose estimation value of the QR coordinatesystem relative to the camera coordinate system by using the four featurepoints of the selected QR code. In the second step, the manifold gradientoptimization algorithm is designed. The rotation matrix and displacement vectorare taken as the initial values of iteration, and the iterative optimization iscarried out to improve the positioning accuracy and obtain the rotation matrixand displacement vector with higher accuracy. The third step is to convert thepose of the QR coordinate system with respect to the camera coordinate systemto the pose of the AGV(Automated Guided Vehicle) with respect to the worldcoordinate system. Finally, the performance of manifold gradient optimizationalgorithm and P4P analytical algorithm are simulated and compared under thesame conditions.One can see that the performance of the manifold gradientoptimization algorithm proposed in this paper is much better than that of theP4P analytic algorithm when the signal-to-noise ratio is small.With theincrease of the signal-to-noise ratio,the performance of the P4P analyticalgorithm approaches that of the manifold gradient optimization algorithm.whenthe noise is same,the performance of manifold gradient optimization algorithmis better when there are more feature points.

Cyber Physical System Information Collection: Robot Location and Navigation Method Based on QR Code