In our developed localization system for auto navigation based on omnidirectional vision, we used artificial landmarks. In order to distinguish landmarks from natural environments effectively in a bigger application area, this paper analyzes the correlations between the landmark image size and landmark position, landmark height and camera height. Then to propose a landmark model with the right circular cone made of red and blue patches and a fast landmark tracking algorithm based on color intensity difference. Outdoor experiments were conducted with the bottom diameter of landmark was 25 cm an...
