ROS-Based Mobile Robot Pose Planning for a Good View of an Onboard Camera using Costmap

This paper presents a pose planning method for ROS-based mobile robot equipped with an onboard computer. The system aims for archiving a remote 3D reconstruction using an onboard RGB-D camera and mobile robots autonomously. To plan a robot pose with a good view point for fixed position of an onboard camera configuration is a task we are addressing in this work. The proposed method is just a part of our system to find a good view point before performing 3D reconstruction tasks. Such system is suitable for a low-power onboard computer in cooperating with a remote server to support for rich computational tasks. A low bandwidth data stream between the onboard computer and the server is used most of time while a high bandwidth data will just be used when needed. Our method uses basic triangulation and transformation to find a good view point based on reference surface points. Reference surface points are extracted by using a cost value from ROS costmap data. The method is implemented and tested in a simulation software and realizing ROS environment. Outcomes with output from camera and visualization software are observed and evaluated.