Robust projection method for a mobile robot with a camera and a projector based on a structured-environment approach - Experiments of the modified method considering a distance between a marker and a robot-

This paper describes a mobile robot (Campro-RIS) that provides visual support for human activities by projecting information onto the surfaces of various objects in living spaces through a structured-environment approach. Campro-RIS employs a parallel two-wheeled vehicle system with a camera-projector whose angles can be controlled with a pan-tilt actuator. By actively examining visual markers placed in the environment in advance, the robot projects distortion-free image information onto surfaces located at arbitrary distances and orientations even in extremely complex environments containing various objects. To precisely project the image onto the target location while simultaneously avoiding obstacles around the robot and keeping an appropriate distance between the robot and the marker, we propose a robust projection control method built upon an image-based visual servoing technique based on actuator redundancy. The effectiveness of the proposed method is demonstrated using an experimental system including three dimensional experimental results.