多眼視覚を備えたロボットマニピュレータによる物体追従

抄録

Our research group has studied high-speed manipulation by integrating visual information from a large number of cameras installed on a robot body to expand the viewing angle and eliminate blind spots. In this study, a multi-eye vision hand arm is applied to object tracking control. The position of a moving object is calculated from multiple cameras by multi-view stereo, and the robot hand follows it. In the case of multi-view stereo, even if some cameras are obscured by occlusion, stereo calculation is possible with information from other cameras. On the other hand, the effect of calibration errors cannot be ignored, especially for cameras mounted on the robot’s body. Therefore, we verified the performance of multi-view stereo on a multi-eye vision hand arm through experiments.