A new landmark design for localization and orientation of an autonomously moving theatrical stage

This paper introduces a new system of landmarks with a distinctive pattern design for identifying the localization and orientation of a moving theatrical stage. Two types of landmarks are proposed: absolute and incremental. The former type provides the location and orientation of the moving stage by reading patterned landmark information. The latter type furnishes the localization by counting the number of stripes involved in a stage movement, and acquiring the orientation from a gyro sensor. The new landmark system was used to synchronize the movement of three stages with the help of a wireless communication protocol. Ultraviolet light-responding paint was used for the landmarks to prevent actors and spectators from becoming distracted, since the patterns were imperceptible to the human eye. The ultraviolet light was irradiated directly on the floor at a very low intensity, so that a camera placed beneath the stage received the reflected light beams from the floor patterns. The position of the camera precluded any interference caused by actor movement or theatrical lighting, as often happens when external sensors are mounted.