The Field-of-View Constraint of Markers for Mobile Robot with Pan-Tilt Camera

TL;DR

This paper introduces a method to determine the field-of-view constraints for markers on a mobile robot with a pan-tilt camera, ensuring all feature points remain visible during navigation.

Contribution

The paper presents a novel approach to calculate FOV constraints for markers, enabling robots to maintain marker visibility during movement.

Findings

The method accurately predicts FOV constraint regions.

Simulations and experiments validate the effectiveness of the approach.

The approach improves navigation accuracy by maintaining marker visibility.

Abstract

In the field of navigation and visual servo, it is common to calculate relative pose by feature points on markers, so keeping markers in camera's view is an important problem. In this paper, we propose a novel approach to calculate field-of-view (FOV) constraint of markers for camera. Our method can make the camera maintain the visibility of all feature points during the motion of mobile robot. According to the angular aperture of camera, the mobile robot can obtain the FOV constraint region where the camera cannot keep all feature points in an image. Based on the FOV constraint region, the mobile robot can be guided to move from the initial position to destination. Finally simulations and experiments are conducted based on a mobile robot equipped with a pan-tilt camera, which validates the effectiveness of the method to obtain the FOV constraints.