Tracking projection method for 3D space by a mobile robot with camera and projector based on a structured-environment approach

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• 作者：Kenji Tatsumoto ; Satoshi Iwaki ; Tetsushi Ikeda
• 关键词：Mobile robots ; Robot vision and image processing ; Visual servo system
• 刊名：Artificial Life and Robotics
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：22
• 期：1
• 页码：90-101
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence (incl. Robotics); Computation by Abstract Devices; Control, Robotics, Mechatronics;
• 出版者：Springer Japan
• ISSN：1614-7456
• 卷排序：22

文摘

In this paper, we discuss a mobile robot (Campro-RIS) that provides visual support for human activities by projecting information onto the surfaces of various objects in living spaces through a structured-environment approach. Campro-RIS employs a parallel two-wheeled vehicle system with a camera and a projector whose angle can be controlled with a pan/tilt actuator. By actively examining visual markers placed in the environment in advance, the robot projects distortion-free image onto surfaces located at arbitrary distances and orientations. To precisely project the image onto the target location while simultaneously avoiding obstacles around the robot and staying within the pan/tilt actuator’s movable range, we newly propose a robust projection control method built upon an image-based visual servoing technique based on actuator redundancy. The effectiveness of the proposed method is demonstrated in a three dimensional experimental system.