Projection mapping by mobile projector robot

In this paper, we propose a method to achieve projection mapping by mobile projector robot. Projection mapping technology become popular and is used in various situations. However, since most of the current projection mappings are based on pre-calibrated fixed projectors, projectable areas become small fixed regions. We have been researching Ubiquitous Display (UD) that is a mobile-projection robot and aims to support the users by projecting various information. In this paper, we propose projection mapping technology by the mobile projector robot. UD has sensors for self-localization, but their accuracy are not enough for achieving projection mapping. Thus, in our method, we first models projection target beforehand. Then, UD moves to the front of the target and obtains point cloud observations of the scene. After that, the pose and position of the model is estimated. By using the estimated pose and position, we can realize the accurate projection mapping based on the mobile projector. Preliminary experiment shows the effectiveness of the proposed method.