ARツールを用いたオドメトリのキャリブレーションシステムにおけるARマーカのズレ量の計測法

抄録

We propose a method that measures the displacement of an AR marker for our odometry calibration system. The bias on odometry is a fundamental problem for mobile robots. Some calibration methods for the bias have been proposed, and we have also proposed a calibration method using a software library of AR. However, in our system, the displacement of AR marker on the robot affects calibration results. Therefore, we try measuring the displacement of AR marker on the robot coordinate system. Experimental results show that the displacement can be caliculated by the proposed method.