Tilted Camera for Mobile Robot SLAM Precision
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Mobile robots face challenges in achieving precise localization and mapping in feature-rich environments due to limited disparity observation with forward-facing cameras, especially when moving towards features directly in front, leading to difficulties in determining 3D structure and relative pose.
Innovation Solution
The use of a camera positioned at an acute angle above the forward direction of motion with a narrow field of view, allowing increased disparity observation and improved angular resolution, enabling more precise 3D structure determination and relative pose estimation by tilting the camera to enhance the precision of visual measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a forward-facing camera is used for navigation, then the robot can capture images of the environment directly in front, but the disparity observation is limited when moving towards features directly in front, reducing 3D structure determination precision
Solution Approach 1:
The camera is tilted at an acute angle (e.g., 30 degrees) above the horizontal plane, changing the viewing dimension from directly forward to an elevated oblique perspective. This dimensional change allows the camera to capture features both in front and above the robot, creating sufficient parallax and disparity for 3D structure determination while maintaining forward navigation capability
2Measurement precision
If a narrow field of view camera is used, then angular resolution is improved for precise feature tracking, but the area of the environment visible at any given time is reduced
Solution Approach 1:
By tilting the camera upward at an acute angle, the narrow field of view is directed toward the upper portion of the environment (walls, ceiling, upper furniture) rather than the immediate forward ground area. This dimensional reorientation allows the narrow FOV to capture stable, high-contrast features at a distance, achieving precise angular resolution for feature tracking while the robot's forward motion continuously reveals new areas of the environment
Data Source
AI summary
The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.