2025/02/03 by Dabin Kim, Inkyu Jang, Kim, Dabin +7 · 1 citation
Computer Science · Engineering · #Advanced Measurement and Detection Methods #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Electrical engineering #Gaze Tracking and Assistive Technology #Robotics (cs.RO) #Systems and Control (eess.SY) #Video Surveillance and Tracking Methods #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2502.01092
openalex publication_date 2025/02/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is achieved by detecting and tracking visual features or landmarks, which provide information about the sensor's relative pose. For reliable feature tracking and accurate pose estimation, it is crucial to maintain visibility of a sufficient number of features. This requirement can sometimes conflict with the robot's overall task objective. In this paper, we approach it as a constrained control problem. By leveraging the invariance properties of visibility constraints within the robot's kinematic model, we propose a real-time safety filter based on quadratic programming. This filter takes a reference velocity command as input and produces a modified velocity that minimally deviates from the reference while ensuring the information score from the currently visible features remains above a user-specified threshold. Numerical simulations demonstrate that the proposed safety filter preserves the invariance condition and ensures the visibility of more features than the required minimum. We also validated its real-world performance by integrating it into a visual simultaneous localization and mapping (SLAM) algorithm, where it maintained high estimation quality in challenging environments, outperforming a simple tracking controller.