The image of marker for autonomous relative orientation in near field

The process of forming of image for artificial marker structure for solving a problem of robot relative position parameters determining, on example of an autonomous unmanned underwater vehicles, using the methods of digital image processing and pattern recognition is described. To account for invariant properties of projective group of transformations on the image plane performed computer simulations to determine the optimal structure of a basic element of the token. The simulation results to move to the process of creating the optimal way of artificial marker.