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

TL;DR

This paper proposes methods to evaluate the accuracy of 3D object reconstructions obtained from monocular LSD-SLAM on a collaborative robot, addressing pose conversion issues and providing criteria for accuracy assessment.

Contribution

It introduces a novel approach to analyze 3D reconstruction accuracy from monocular LSD-SLAM and offers guidelines to enhance reconstruction quality.

Findings

Proposed a pose space conversion solution.

Developed criteria for accuracy analysis.

Guidelines for improving 3D reconstruction accuracy.

Abstract

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.