Traditional automatic barcode localization method in mobile service
robots for assisting shopping services has a conflict between wide
field of view for barcode detection and high resolution barcode
images for barcode localization. To resolve this conflict, we use
two auto-focus zoom cameras in the framework: one static camera
with a short focal length is used to capture the wide field image
for barcode regions detection, and the other one is a pan-tiltzoom
camera to capture the sharp and high resolution barcode
images for barcode localization. In addition, a novel barcode
localization algorithm of field mode is also proposed. By using
the framework, higher flexibility on the camera-to-object distance is
beneficial for mobile robots in automatic barcode localization. The
experimental results show that the proposed framework with the
proposed barcode localization algorithm can accurately localize the
barcodes on product packaging with complex imprinted patterns.
