Mobile robot active visual localization: Dual quaternion method

This paper proposes a kind of mobile robot active vision positioning method based on the double freedom turntable. First, the kinematic model of the mobile robot system of monocular vision is given. Secondly, by controlling the pitch and yaw angles of pan-tilt, the camera optical axis always points to the target geometry center in order to solve the field of view problem. Coordinate system relative pose solution method which based on dual quaternion avoids calculating the singularity and improves the positioning accuracy of mobile robot. Finally, according to pan-tilt´s feedback angles, extrinsic parameters of the camera, the pose and the position of the camera, the position vector and pose vector of the mobile robot are obtained.