Signal encoding for difficult environments

A method comprising:

• obtaining data representing a color area;
• determining that the data representing the color area, or information obtained by using the data representing the color area, indicates that the color area comprises a reflectivity of fifteen (15) percent (%) or less at or around 660 nm;
• generating an encoded signal, the encoded signal comprising a pattern including signal elements at various spatial locations corresponding to the color area;
• generating holes in the color area according to the pattern, said generating holes yielding an encoded color area;
• and
• selecting a fill color for placement within the holes of the encoded color area, said selecting utilizing an encoded signal error that is associated with the color area, the fill color, and a reflectance difference at or around 660 nm between the color area and the fill color, said selecting also utilizing a color error that is associated with the color area, the fill color, and the reflectance difference.

An apparatus comprising:

• means for storing data representing a color area;
• means for determining that the data representing the color area, or information obtained by using the data representing the color area, indicates that the color area comprises a reflectivity of fifteen (15) percent (%) or less at or around 660 nm;
• means for generating an encoded signal, the encoded signal comprising a pattern including signal elements at various spatial locations corresponding to the color area;
• means for generating holes in the color area according to the pattern, said generating holes yield an encoded color area;
• and
• means for selecting a fill color for placement within the holes of the encoded color area, said means for selecting utilizing an encoded signal error that is associated with the color area, the fill color, and a reflectance difference at or around 660 nm between the color area and the fill color, said means for selecting also utilizing a color error that is associated with the color area, the fill color, and the reflectance difference.

A non-transitory computer readable medium comprising instructions stored thereon that, when executed by one or more processors, cause said one or more processors to perform the following:

• obtain data representing a color area;
• determine that the data representing the color area, or information obtained by using the data representing the color area, indicates that the color area comprises a reflectivity of fifteen (15) percent (%) or less at or around 660 nm;
• generate an encoded signal, the encoded signal comprising a pattern including signal elements at various spatial locations corresponding to the color area;
• generate holes in the color area according to the pattern to yield an encoded color area;
• and
• select a fill color for placement within the holes of the encoded color area utilizing an encoded signal error that is associated with the color area, the fill color, and a reflectance difference at or around 660 nm between the color area and the fill color, and also utilizing a color error that is associated with the color area, the fill color, and the reflectance difference.