Stathakis, Alexandros2012-01-052012-01-0520122012http://hdl.handle.net/10393/20507http://dx.doi.org/10.20381/ruor-5122Vision-based positioning systems are founded primarily on a simple image processing technique of identifying various visually significant key-points in an image and relating them to a known coordinate system in a scene. Fiducial markers are used as a means of providing the scene with a number of specific key-points, or features, such that computer vision algorithms can quickly identify them within a captured image. This thesis proposes a reliable vision-based positioning system which utilizes a unique pseudo-random fiducial marker. The marker itself offers 49 distinct feature points to be used in position estimation. Detection of the designed marker occurs after an integrated process of adaptive thresholding, k-means clustering, color classification, and data verification. The ultimate goal behind such a system would be for indoor localization implementation in low cost autonomous mobile platforms.enFiducial MarkerIndoor LocalizationMachine VisionPseudo-Random ArrayThesis