ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-G05
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移動マニピュレーターによる作業のためのARマーカーによる3D-SLAM自己位置の修正
*田中 寛仁都留 将人清川 拓哉小山 佳祐万 偉偉原田 研介
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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.

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