オンライン補正を付加したビジュアルトラッキングによるロボットの位置決め手法

抄録

To determine the positional relationship between a camera and a robot, calibration is required. Since it takes time, it needs a simple calibration. In this research, we propose a robot positioning method by reducing calibration time. First, multiple robot coordinates are measured from visual tracking, and calibration is performed using the robot coordinates. After that, a target coordinate is calculated using the camera parameters estimated by the calibration, then a robot moves to the target location. Because it is a simple calibration method, the positioning accuracy of the robot is low. Therefore, the camera parameters are modified online using the Levenberg-Marquardt method during the robot operation, thereby the robot positioning accuracy is improved.