Which bar code type is the most robust when used with mobile machine vision and a tool like OpenCV?

Question

I want to use bar codes to help a robot navigate a home. I was looking at QR codes and a few other kinds, but I don't know enough about bar code recognition to know up front the variant that will give me the highest success rate when viewed at different angles and perhaps even while the robot is in motion. Does anyone know which bar code type excels in applications like this one? I most likely will be using OpenCV in conjunction with one of the open source bar code libraries to do my work. My users will print the bar codes on their printer an mount them on a stiff surface to create navigation placards placed at strategic locations around the house.

Answer 1

I will go ahead and suggest QR Code

Keep in mind there must be as little blur as possible and the image must be clear. I suggest you scale the QR Codes up so resolution doesn't become a problem(50cm x 50cm maybe?) and do not include a lot of data.

Answer 2

zbar: http://zbar.sourceforge.net/download.html

zxing: http://code.google.com/p/zxing/

I used zbar on ios for a very simple app, it worked pretty well.