Calibration System Using Semantic-ICP for Visualization of Robot Spatial Perception Through Mixed Reality

Abstract

To achieve symbiosis between humans and robots, it is important to know what the robots recognize in their environment. Such information can be displayed using a Mixed Reality (MR) head-mounted device to provide an intuitive understanding of a robot perception. However, a robust calibration system is required because the robot and head-mounted MR device have different coordinate systems. In this paper, we develop a semantic-based calibration system for human-robot interactions in MR using Semantic-ICP. We show that the calibration system using Semantic-ICP is better than using GICP SE(3) when the accuracy of the semantic labels is high.