Method for extended field-of-view angle measurement based on chain tracking of feature points

Abstract

In visual navigation and positioning tasks, agents often fail to simultaneously observe two distant feature points due to the limited field of view (𝐹𝑂𝑉) of the camera, leading to angle measurement failure. This paper proposes a chain tracking measurement method, this method does not rely on additional hardware, utilizing only natural feature points in the image sequence for chain tracking and angle accumulation, making it suitable for resource-constrained mobile agent platforms. Experimental results demonstrate that the method effectively overcomes physical 𝐹𝑂𝑉 limitations, enhancing the flexibility and robustness of angle measurement.