@inproceedings{c4e01cb29a92403d90e298a096b0de7a,
title = "Application of simultaneous localization and mapping for large-scale manipulators in unknown environments",
abstract = "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.",
author = "Petri M{\"a}kinen and \{M. Aref\}, Mohammad and Jouni Mattila and Sirpa Launis",
year = "2019",
doi = "10.1109/CIS-RAM47153.2019.9095770",
language = "English",
isbn = "978-1-7281-3459-8",
series = "IEEE International Conference on Cybernetics and Intelligent Systems",
publisher = "IEEE",
pages = "559--564",
booktitle = "Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)",
address = "United States",
note = "IEEE International Conference on Cybernetics and Intelligent Systems, and Robotics, Automation and Mechatronics ; Conference date: 01-01-2000",
}