TY - CHAP U1 - Konferenzveröffentlichung A1 - Triputen, Sergey A1 - Gopal, Atmaraaj A1 - Weber, Thomas A1 - Höfert, Christian A1 - Rätsch, Matthias A1 - Schreve, Kristiaan T1 - Methodology to analyze the accuracy of 3D objects reconstructed with collaborative robot based monocular LSD-SLAM T2 - Advancing the frontier of intelligent autonomous systems : proceedings 2018 International Conference on Intelligent Autonomous Systems (ICoIAS 2018), March 1-3, 2018, Singapore N2 - SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion and computing optimal gripper pose to grasp objects. In this work, we propose the methods to analyze the accuracy of a 3D environment reconstructed using a LSD-SLAM system with a monocular camera mounted onto the gripper of a collaborative robot. We discuss and propose a solution to the pose space conversion problem. Finally, we present several criteria to analyze the 3D reconstruction accuracy. These could be used as guidelines to improve the accuracy of 3D reconstructions with monocular LSD-SLAM and other SLAM based solutions. KW - 3D reconstruction KW - accuracy KW - bin-picking KW - collaborative robot KW - depth estimation KW - monocular camera KW - LSD-SLAM KW - SLAM KW - space conversion Y1 - 2018 SN - 978-1-5386-6331-8 SB - 978-1-5386-6331-8 U6 - https://doi.org/10.1109/ICoIAS.2018.8494109 DO - https://doi.org/10.1109/ICoIAS.2018.8494109 SP - 185 EP - 190 S1 - 6 PB - IEEE CY - Piscataway, NJ ER -