多眼視覚を備えたハンドアームによる環境地図作成

抄録

In this paper, we first propose a ”Multi-Eye Vision Hand-Arm” that can obtain visual information of around the entire robot by mounting many cameras on the robot hand and robot arm. Next, we propose a method for creating an environmental map using the ”Multi-Eye Vision Hand-Arm”. The environmental map is based on active stereo using cameras mounted on the robot. The camera’s position and posture required for stereo are obtained by forward kinematics using the robot’s joint angle sensors. The environment map is then created by modifying them with camera images. The results of an actual experiment confirmed that integrating the robot’s joint angle information and the image information from the camera can create a more accurate environmental map than estimating the camera’s position and posture based on joint angle information alone.