[1L3-J-11] Robot and real worlds: recognition and movements

[1L3-J-11-02] Calibration System Using Semantic-ICP for Visualization of Robot Spatial Perception Through Mixed Reality

〇Hitoshi Nakamura¹, Lotfi El Hafi¹, Yoshinobu Hagiwara¹, Tadahiro Taniguchi¹ (1. Ritsumeikan University)

Keywords:Semantic-ICP, ICP, Calibration System, Mixed Reality, Robot

To achieve symbiosis between humans and robots, it is important to know what the robots recognize in their environment. Such information can be displayed using a Mixed Reality (MR) head-mounted device to provide an intuitive understanding of a robot perception. However, a robust calibration system is required because the robot and head-mounted MR device have different coordinate systems. In this paper, we develop a semantic-based calibration system for human-robot interactions in MR using Semantic-ICP. We show that the calibration system using Semantic-ICP is better than using GICP SE(3) when the accuracy of the semantic labels is high.