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

arXiv: https://arxiv.org/abs/1909.10682 · HTML: https://mlsanity.com/paper/1909.10682/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Sep 2019.

## Built on by (most cited first, 1 of 1)

- [Language-in-the-Loop Culvert Inspection on the Erie Canal](https://mlsanity.com/paper/2509.21370/) (2025)

## Abstract (arXiv)

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.