二次元バーコード付きマークを用いた複数物体のハンドリング

概要

This paper proposes a method to estimate an object pose from several marks attached on the object. A robot measures poses of the marks several times and estimates errors. The errors are estimated from pre-measured data in advance. Then, the robot can determine the object pose with weighted least-squares method. The usability of the method is verified from experiments results.