Correction of 3D-SLAM Self-Positioning with AR Markers for Mobile Manipulation Tasks

Abstract

In the conventional, Simultaneous Localization and Mapping (SLAM), it is difficult to calculate the camera movement using the image features in the environment with less features. To cope with this problem, we address this research proposes a method coordinating SLAM and AR marker recognition in a featureless space. We assume a processing/inspection work of a large structure by a mobile manipulator. We use a depth sensor that executes 3D-SLAM in the horizontal direction and an RBG camera that recognizes AR markers in the overhead direction, and show real-time detection of errors that occur during SLAM execution using AR markers.