A method for inserting information into a 3D structure and recognizing information in a non-destructive method is provided. A 3D printing method according to an exemplary embodiment of the present invention includes: generating a tag having specific information recorded thereon to be inserted into a 3D structure, and printing the tag on the inside of the 3D structure while printing the 3D structure. Accordingly, since the tag having information recorded thereon is printed on the inside of the 3D structure when the 3D structure is printed by a 3D printer, it is impossible to forge/falsify information.

Disclosed are various embodiments of a multi-scale fiducial. A multi-scale fiducial may have three or more scales, where the child fiducials are nested or otherwise linked by a relative position to the parent fiducials. Multi-scale fiducials may facilitate target identification and tracking at varying distances, potentially without the aid of a scale-invariant recognition algorithm. One application of multi-scale fiducials may involve target identification for autonomously controlled aerial vehicles.

Disclosed are various embodiments involving use of a multi-scale fiducial by an autonomously controlled aerial vehicle. A first image at a first location is captured, and a first fiducial at a first scale of a multi-scale fiducial is recognized within the first image. The autonomously controlled aerial vehicle is piloted relative to the multi-scale fiducial based at least in part on information contained within the first fiducial. A second image at a second location is captured, and a second fiducial at a second scale of the multi-scale fiducial is recognized within the second image. An action is then performed based at least in part on information contained within the second fiducial.

A method for inserting information into a 3D structure and recognizing information in a non-destructive method is provided. A 3D printing method according to an exemplary embodiment of the present invention includes: generating a tag having specific information recorded thereon to be inserted into a 3D structure, and printing the tag on the inside of the 3D structure while printing the 3D structure. Accordingly, since the tag having information recorded thereon is printed on the inside of the 3D structure when the 3D structure is printed by a 3D printer, it is impossible to forge/falsify information.

A system and method is provided for determining the location of a device based on image of objects captured by the device. In one aspect, an interior space includes a plurality of objects having discernable visual characteristics disposed throughout the space. The device captures an image containing one or more of the objects and identifies the portions of the image associated with the objects based on the visual characteristics. The visual appearance of the objects may also be used to determine the distance of the object to other objects or relative to a reference point. Based on the foregoing and the size and shape of the image portion occupied by the object, such as the height of an edge or its surface area, relative to another object or a reference, the device may calculate its location.

A system and method is provided for determining the location of a device based on image of objects captured by the device. In one aspect, an interior space includes a plurality of objects having discernable visual characteristics disposed throughout the space. The device captures an image containing one or more of the objects and identifies the portions of the image associated with the objects based on the visual characteristics. The visual appearance of the objects may also be used to determine the distance of the object to other objects or relative to a reference point. Based on the foregoing and the size and shape of the image portion occupied by the object, such as the height of an edge or its surface area, relative to another object or a reference, the device may calculate its location.

Disclosed are various embodiments involving use of a multi-scale fiducial by an autonomously controlled aerial vehicle. A first image at a first location is captured, and a first fiducial at a first scale of a multi-scale fiducial is recognized within the first image. The autonomously controlled aerial vehicle is piloted relative to the multi-scale fiducial based at least in part on information contained within the first fiducial. A second image at a second location is captured, and a second fiducial at a second scale of the multi-scale fiducial is recognized within the second image. An action is then performed based at least in part on information contained within the second fiducial.

Assignment device for the sorting of luggage pieces according to a sorting criterion includes a coding station and a processing station. A non-machine readable sorting criterion can be assigned at the processing station. The assignment is effected in that an image of the luggage enabling the assignment can be transmitted to the processing station. A method for sorting luggage pieces according to a sorting criterion includes a step of relaying an image of a luggage piece to the processing.