Artificial Life and Robotics

, Volume 22, Issue 1, pp 90–101 | Cite as

Tracking projection method for 3D space by a mobile robot with camera and projector based on a structured-environment approach

  • Kenji TatsumotoEmail author
  • Satoshi Iwaki
  • Tetsushi Ikeda
Original Article


In this paper, we discuss 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 and a projector whose angle 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 onto surfaces located at arbitrary distances and orientations. To precisely project the image onto the target location while simultaneously avoiding obstacles around the robot and staying within the pan/tilt actuator’s movable range, we newly 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 in a three dimensional experimental system.


Mobile robots Robot vision and image processing Visual servo system 



We would like to express our gratitude to alumnus of our research laboratory, Mr. Tomohiro Izumi and Mr. Kazuya Tsuji, who established the basic concept and essential formulation for our robust tracking projection method.


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Copyright information

© ISAROB 2016

Authors and Affiliations

  • Kenji Tatsumoto
    • 1
    Email author
  • Satoshi Iwaki
    • 1
  • Tetsushi Ikeda
    • 1
  1. 1.Hiroshima City UniversityHiroshimaJapan

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