産業用ロボットのためのステレオカメラを用いたSLAM統合機構キャリブレーション

抄録

Kinematic calibration is necessary for industrial robots to perform accurate tasks. Furthermore, it needs to know information about the surrounding environment to perform stable tasks. In our laboratory, we study SLAM-integrated kinematic calibration, which can simultaneously calibrate kinematic parameters of industrial robots and create environmental map, around the robots. In the previous method, RGB-D cameras and spherical cameras are used. However, the misalignment between the camera and depth sensor for RGB-D cameras and image distortion for spherical cameras can be error factors. In this study, we proposed SLAM-integrated kinematic calibration using a stereo camera and compared this method with previous methods.