Locating objects using indicia

摘要

This specification relates to locating objects using indicia. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include the actions of obtaining an image captured from a camera in proximity of an object located in an indoor facility, the image being of a portion of a surface of the indoor facility comprising a plurality of visible indicia, the camera having an orientation generally pointed at the surface. A plurality of local indicia are identified within the image. The locations of the local indicia within the image and an index of the visible indicia of the surface are used to determine the location of the object relative to the surface.