Methodology to analyze the accuracy of 3D objects reconstructed with collaborative robot based monocular LSD-SLAM

  • 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.

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Metadaten
Name:Tryputen, Sergii; Gopal, Atmaraaj; Weber, Thomas; Höfert, Christian; Rätsch, Matthias
DOI:https://doi.org/10.1109/ICoIAS.2018.8494109
ISBN:978-1-5386-6331-8
Erschienen in:Advancing the frontier of intelligent autonomous systems : proceedings 2018 International Conference on Intelligent Autonomous Systems (ICoIAS 2018), March 1-3, 2018, Singapore
Publisher:IEEE
Place of publication:Piscataway, NJ
Document Type:Conference Proceeding
Language:English
Year of Publication:2018
Tag:3D reconstruction; LSD-SLAM; SLAM; accuracy; bin-picking; collaborative robot; depth estimation; monocular camera; space conversion
Pagenumber:6
First Page:185
Last Page:190
Dewey Decimal Classification:004 Informatik
Open Access:Nein
Licence (German):License Logo  Lizenzbedingungen IEEE