Imagery captured by an autonomous robot is analyzed to discern digital watermark patterns. In some embodiments, identical but geometrically-inconsistent digital watermark patterns are discerned in an image frame, to aid in distinguishing multiple depicted instances of a particular item. In other embodiments, actions of the robot are controlled or altered in accordance with image processing performed by the robot on a digital watermark pattern. The technology is particularly described in the context of retail stores in which the watermark patterns are encoded, e.g., on product packaging, shelving, and shelf labels. A great variety of other features and arrangements are also detailed.

Imagery captured by an autonomous robot is analyzed to discern digital watermark patterns. In some embodiments, identical but geometrically-inconsistent digital watermark patterns are discerned in an image frame, to aid in distinguishing multiple depicted instances of a particular item. In other embodiments, actions of the robot are controlled or altered in accordance with image processing performed by the robot on a digital watermark pattern. The technology is particularly described in the context of retail stores in which the watermark patterns are encoded, e.g., on product packaging, shelving, and shelf labels. A great variety of other features and arrangements are also detailed.

In one embodiment, a self-describing fiducial includes a communication element that optically communicates navigation-aiding information. The navigation-aiding information may include a position of the self-describing fiducial with respect to one or more coordinate systems and the communication element communicates the navigation-aiding information to one or more navigating objects in the vicinity of the self-describing fiducial. In another embodiment, the communication element is further configured to communicate supplementary information describing a spatial relationship between the self-describing fiducial and the surrounding environment.

Example embodiments relate to a wearable mobile terminal. In one embodiment, the wearable mobile terminal comprises at least one processing element and at least one memory including program code. In such an embodiment, the wearable mobile terminal is configured to capture one or more machine-readable codes and obtain data from the captured one or more machine-readable codes.

A container for a beverage or foodstuff preparation machine, the container for containing beverage or foodstuff material and including a code encoding preparation information. The code includes a reference portion and a data portion. The reference portion has reference units defining a reference liner, and the data portion has a data unit. The data unit is arranged on an encoding line D that intersects the reference line r, and the data unit is arranged a distance d from the intersection as a variable to at least partially encode a parameter of the preparation information. The encoding line D is circular and is arranged with a tangent thereto orthogonal the reference liner at the intersection point. The reference units are arranged with a configuration defining a reference point from which the reference line r extends.

Systems and methods are provided for physically labeling structural features, such as weld joints in a pipeline, with pattern-based codes that uniquely identify respective features. The systems and methods are also provided for identifying the features based on imagery of the codes captured during subsequent inspection of the weld joints. In particular, the weld joints can be uniquely identified by encoding measured geographic coordinates within two distinguishable circular patterns that correspond to latitude and longitude, respectively. In addition, the pattern-based codes can be applied to respective weld joints using a contrast material such that the codes are revealed in the images of the weld joints captured during inspection. Furthermore, the systems and methods include analyzing the images captured during inspection to identify the inspected weld joints for the purpose of verifying that each weld joint was properly inspected in the field.

A method, an apparatus, and a terminal for recognizing a two-dimensional code are provided. The two-dimensional code includes an image region and an encoding region. The image region and the encoding region have no overlap. The method includes selecting, from pixels of the two-dimensional code, a pixel included in a code element in an encoding region. The method further includes determining a value of the code element in the encoding region according to the pixel included in the code element in the encoding region. The method further includes recognizing the two-dimensional code according to the value of the code element in the encoding region.

In one embodiment, a self-describing fiducial includes a communication element that optically communicates navigation-aiding information. The navigation-aiding information may include a position of the self-describing fiducial with respect to one or more coordinate systems and the communication element communicates the navigation-aiding information to one or more navigating objects in the vicinity of the self-describing fiducial.

A container for a beverage or foodstuff preparation machine, the container for containing beverage or foodstuff material and comprising a code encoding preparation information, the code comprising a reference portion and a data portion: the reference portion comprising reference units defining a reference line r; the data portion comprising a data unit, wherein said data unit is arranged on an encoding line D that intersects the reference line r, the data unit is arranged a distance d from said intersection as a variable to at least partially encode a parameter of the preparation information, whereby said encoding line D is circular and is arranged with a tangent thereto orthogonal the reference line r at said intersection point, wherein the reference units are arranged with a configuration defining a reference point from which the reference line r extends.

Container for a beverage preparation machine or foodstuff preparation machine, the container for containing beverage or foodstuff material comprises a code encoding preparation information, in particular preparation information for a beverage preparation machine or foodstuff preparation machine to prepare a beverage or a foodstuff with beverage or foodstuff material contained in the container, the code comprising a reference portion and a data portion. The reference portion comprises at least one reference configuration defining a virtual reference line. The data portion comprises a virtual encoding line intersecting the virtual reference line at a virtual intersection point and a sequence of data units comprising at least two data units aligned at a distance from each other along the virtual encoding line for encoding a sequence of operations of the preparation information. Each data unit of the sequence of data units encodes an operation of the sequence of operations, wherein a relative position of each data unit in the sequence of data units encodes a nature of the encoded operation and wherein a distance between the data unit and the virtual intersection point and/or a distance between the data unit and another data unit of the sequence of data units or of another sequence of data units encodes a value of a condition for the performance of the encoded operation.