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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Methodology to Analyze the Accuracy of 3D Objects Reconstructed with Collaborative Robot Based Monocular LSD-SLAM


    Contributors:


    Publication date :

    2018-03-01


    Size :

    1407814 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Collaborative Monocular SLAM with Crowd Sourced Data

    Huai, Jianzhu / Józków, Grzegorz / Toth, Charles et al. | British Library Conference Proceedings | 2016


    Edge landmarks in monocular SLAM

    Eade, E. / Drummond, T. | British Library Online Contents | 2009


    Parsimonious real time monocular SLAM

    Bresson, Guillaume / Feraud, Thomas / Aufrere, Romuald et al. | IEEE | 2012


    Parsimonious Real Time Monocular SLAM

    Bresson, G. / Feraud, T. / Aufrere, R. et al. | British Library Conference Proceedings | 2012


    Vision-Based SLAM: Stereo and Monocular Approaches

    Lemaire, T. / Berger, C. / Jung, I. K. et al. | British Library Online Contents | 2007