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In the field of navigation and visual servo, it is common to calculaterelative pose by feature points on markers, so keeping markers in camera's viewis an important problem. In this paper, we propose a novel approach tocalculate field-of-view (FOV) constraint of markers for camera. Our method canmake the camera maintain the visibility of all feature points during the motionof mobile robot. According to the angular aperture of camera, the mobile robotcan obtain the FOV constraint region where the camera cannot keep all featurepoints in an image. Based on the FOV constraint region, the mobile robot can beguided to move from the initial position to destination. Finally simulationsand experiments are conducted based on a mobile robot equipped with a pan-tiltcamera, which validates the effectiveness of the method to obtain the FOVconstraints.

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