{"created":"2023-06-20T15:13:16.574351+00:00","id":10247,"links":{},"metadata":{"_buckets":{"deposit":"4cc5d41c-0d23-4147-b91a-a6a6fab6baa9"},"_deposit":{"created_by":3,"id":"10247","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"10247"},"status":"published"},"_oai":{"id":"oai:ynu.repo.nii.ac.jp:00010247","sets":["495:496"]},"author_link":["36513","36512","36515","36514"],"item_2_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2019-11-14","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"23","bibliographicPageEnd":"1234","bibliographicPageStart":"1225","bibliographicVolumeNumber":"33","bibliographic_titles":[{"bibliographic_title":"Advanced Robotics"}]}]},"item_2_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Recently, the demand for more accurate, productive, and economical robot manipulators is increasing in the robotics industry. However, a manipulator will produce kinematic errors during production. Thus low-cost kinematic calibration is demanded. Moreover, environmental mapping is also demanded to plan the motions of the manipulator. In this paper, we proposed a simultaneous kinematic calibration, localization, and mapping (SKCLAM) method, which can simultaneously calibrate the kinematic parameters of an industrial robot manipulator using a commercial RGB-D camera attached to its end effector to reconstruct its surroundings. In our method, the kinematic calibration is achieved with feature detection and epipolor geometry. Synthetic and real data experiments were conducted to verify the SKCLAM method. We succeeded in reducing the kinematic errors of the manipulator and reconstructing dense 3D maps of the workspace in the experiments.","subitem_description_type":"Abstract"}]},"item_2_description_6":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 14th, Nov, 2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1689166.","subitem_description_type":"Other"}]},"item_2_publisher_35":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Taylor & Francis"}]},"item_2_relation_13":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"info:doi/10.1080/01691864.2019.1689166","subitem_relation_type_select":"DOI"}}]},"item_2_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"15685535","subitem_source_identifier_type":"ISSN"}]},"item_2_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Department of Mechanical Engineering, Materials Science, and Ocean Engineering , Graduate school of Engineering Science, Yokohama National University, Yokohama, Japan"},{"subitem_text_value":"Department of Mechanical Engineering, Materials Science, and Ocean Engineering , Graduate school of Engineering Science, Yokohama National University, Yokohama, Japan"},{"subitem_text_value":"Department of System Integration, Graduate school of Engineering, Yokohama National University, Yokohama, Japan"},{"subitem_text_value":"Division of Systems Research, Faculty of Engineering, Yokohama National University, Yokohama, Japan"}]},"item_2_version_type_18":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Li, Jinghui"}],"nameIdentifiers":[{"nameIdentifier":"36512","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Ito, Akitoshi"}],"nameIdentifiers":[{"nameIdentifier":"36513","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Yaguchi, Hiroyuki"}],"nameIdentifiers":[{"nameIdentifier":"36514","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Maeda, Yusuke"}],"nameIdentifiers":[{"nameIdentifier":"36515","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"50313036","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=50313036"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-11-15"}],"displaytype":"detail","filename":"AR_manuscript_V3.pdf","filesize":[{"value":"12.1 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AR_manuscript_V3.pdf","url":"https://ynu.repo.nii.ac.jp/record/10247/files/AR_manuscript_V3.pdf"},"version_id":"0f65aced-2cbe-427e-b94b-1dd91e69cb0a"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Industrial robot manipulators","subitem_subject_scheme":"Other"},{"subitem_subject":"kinematic calibration","subitem_subject_scheme":"Other"},{"subitem_subject":"3D reconstruction","subitem_subject_scheme":"Other"},{"subitem_subject":"RGB-D cameras","subitem_subject_scheme":"Other"},{"subitem_subject":"visual SLAM","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators"}]},"item_type_id":"2","owner":"3","path":["496"],"pubdate":{"attribute_name":"公開日","attribute_value":"2020-02-18"},"publish_date":"2020-02-18","publish_status":"0","recid":"10247","relation_version_is_last":true,"title":["Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-06-20T18:35:15.974347+00:00"}