デプスカメラを搭載した追尾ロボットによる計測

―スケートロボットの運動計測と転倒時の姿勢解析―

抄録

In our laboratory, as one of the research, we are analyzing the skating movement by small biped robot using a depth camera. But due to characteristics of the depth camera, it has been confirmed that the measurement accuracy of 3D coordinates falls at the remote and peripheral edges. In this study, we developed a system to track the biped robot and measure skating movement using 3WD omni mechanism carriage and depth camera. To improve the accuracy of self-position estimation of the tracking robot, we examined multiple tracking algorithms and implemented appropriate ones. In addition, while expanding the measurable range to 3.0m, it has become possible to measure at the same level as fixed-point measurement. And the cause of the fall was investigated by measuring the state of the fall and quantitatively evaluating the movement.