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SLAM systems are mainly applied for robot navigation while research onfeasibility for motion planning with SLAM for tasks like bin-picking, isscarce. Accurate 3D reconstruction of objects and environments is important forplanning motion and computing optimal gripper pose to grasp objects. In thiswork, we propose the methods to analyze the accuracy of a 3D environmentreconstructed using a LSD-SLAM system with a monocular camera mounted onto thegripper of a collaborative robot. We discuss and propose a solution to the posespace conversion problem. Finally, we present several criteria to analyze the3D reconstruction accuracy. These could be used as guidelines to improve theaccuracy of 3D reconstructions with monocular LSD-SLAM and other SLAM basedsolutions.

Methodology to analyze the accuracy of 3D objects reconstructed with collaborative robot based monocular LSD-SLAM