In recent years, the application of two-dimensional (2D) barcode is more and more extensive and has been used as landmarks for robots to detect and peruse the information. However, it is hard to obtain a sharp 2D barcode image because of the moving robot, and the common solution is to deblur the blurry image before decoding the barcode. Image deblurring is an ill-posed problem, where ringing artifacts are commonly presented in the deblurred image, which causes the increase of decoding time and the limited improvement of decoding accuracy. In this article, a novel approach is proposed using blur-invariant shape and geometric features to make a blur-readable (BR) 2D barcode, which can be directly decoded even when seriously blurred. The finder patterns of BR code consist of two concentric rings and five disjoint disks, whose centroids form two triangles. The outer edges of the concentric rings can be regarded as blur-invariant shapes, which enable BR code to be quickly located even in a blurred image. The inner angles of the triangle are of blur-invariant geometric features, which can be used to store the format information of BR code. When suffering from severe defocus blur, the BR code can not only reduce the decoding time by skipping the deblurring process but also improve the decoding accuracy. With the defocus blur described by circular disk point-spread function, simulation results verify the performance of blur-invariant shape and the performance of BR code under blurred image situation.

近年来，二维（2D）条码的应用越来越广泛，并且已被用作机器人检测和细读信息的界标。然而，由于机器人的移动，很难获得清晰的二维条形码图像，通常的解决方案是在对条形码进行解码之前对模糊图像进行去模糊处理。图像去模糊是一个不适定的问题，在去模糊的图像中通常会出现振铃伪影，这会导致解码时间的增加和解码精度的有限提高。在本文中，提出了一种使用模糊不变形状和几何特征制作模糊可读（BR）二维条形码的新颖方法，即使严重模糊时也可以直接对其进行解码。BR代码的查找器模式由两个同心环和五个不相交的磁盘组成，其质心形成两个三角形。同心环的外边缘可以看作是模糊不变的形状，即使在模糊图像中也可以快速定位BR代码。三角形的内角具有模糊不变的几何特征，可用于存储BR代码的格式信息。当出现严重的散焦模糊时，BR代码不仅可以通过跳过去模糊处理来减少解码时间，而且可以提高解码精度。通过圆盘点扩展功能描述的散焦模糊，仿真结果验证了在图像模糊情况下模糊不变形状的性能和BR代码的性能。三角形的内角具有模糊不变的几何特征，可用于存储BR代码的格式信息。当出现严重的散焦模糊时，BR代码不仅可以通过跳过去模糊处理来减少解码时间，而且可以提高解码精度。通过圆盘点扩展功能描述的散焦模糊，仿真结果验证了在图像模糊情况下模糊不变形状的性能和BR代码的性能。三角形的内角具有模糊不变的几何特征，可用于存储BR代码的格式信息。当出现严重的散焦模糊时，BR代码不仅可以通过跳过去模糊处理来减少解码时间，而且可以提高解码精度。通过圆盘点扩展功能描述的散焦模糊，仿真结果验证了在图像模糊情况下模糊不变形状的性能和BR代码的性能。