Fig. 1. Structural model of AGV

Fig. 2. Visual calibration

Fig. 3. Coordinate model of AGV

Fig. 4. Model of motion-compensation. (a) Schematic of image rotation; (b) coordinate relation for image rotation

Fig. 5. QR code

Fig. 6. Image after Gaussian filtering

Fig. 7. Extraction of feature points of image

Fig. 8. Image matching results for different algorithms. (a)(b) ORB algorithm; (c)(d) SIFT algorithm; (e)(f) SURF algorithm

Fig. 9. AGV and camera. (a) AGV; (b) camera

Fig. 10. Experimental data. (a) Positioning results in X axis; (b) positioning results in Y axis; (c) angular positioning results