TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Application of simultaneous localization and mapping for large-scale manipulators in unknown environments

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Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoThe 9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 9th IEEE International Conference on Robotics, Automation and Mechatronics (RAM)
Alaotsikko18-20 November, 2019, Bangkok, Thailand
KustantajaIEEE
Sivumäärä6
TilaHyväksytty/In press - marraskuuta 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Cybernetics and Intelligent Systems, and Robotics, Automation and Mechatronics -
Kesto: 1 tammikuuta 2000 → …

Conference

ConferenceIEEE International Conference on Cybernetics and Intelligent Systems, and Robotics, Automation and Mechatronics
Ajanjakso1/01/00 → …

Tiivistelmä

In this paper, we study the application of simultaneous localization and mapping (SLAM) for estimating the tool center point (TCP) 6 degrees-of-freedom (DOF) pose of a large-scale hydraulic manipulator without a priori knowledge of the environment. We attach a stereo camera near the TCP of the manipulator and perform SLAM by utilizing the open source version of ORB-SLAM2. In offline experiments, the camera frame and the TCP frame are extrinsically calibrated using an iterative closest point search to match a point cloud of poses from the SLAM module with a point cloud of ground-truth TCP poses, which are obtained from joint encoder measurements along with a kinematic model of the manipulator. The estimated TCP trajectory provided by the SLAM is then compared to the ground-truth TCP trajectory. These preliminary experiments show that a pure visual SLAM algorithm can perform reasonably well in this application scenario. Limitations and future work are also discussed.

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