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Robot navigation technology is required to accomplish difficult tasks invarious environments. In navigation, it is necessary to know the information ofthe external environments and the state of the robot under the environment. Onthe other hand, various studies have been done on SLAM technology, which isalso used for navigation, but also applied to devices for Mixed Reality and thelike.  In this paper, we propose a robot-device calibration method for navigationwith a device using SLAM technology on a robot. The calibration is performed byusing the position and orientation information given by the robot and thedevice. In the calibration, the most efficient way of movement is clarifiedaccording to the restriction of the robot movement. Furthermore, we also show amethod to dynamically correct the position and orientation of the robot so thatthe information of the external environment and the shape information of therobot maintain consistency in order to reduce the dynamic error occurringduring navigation.  Our method can be easily used for various kinds of robots and localizationwith sufficient precision for navigation is possible with offline calibrationand online position correction. In the experiments, we confirm the parametersobtained by two types of offline calibration according to the degree of freedomof robot movement and validate the effectiveness of online correction method byplotting localized position error during robot's intense movement. Finally, weshow the demonstration of navigation using SLAM device.

Offline and Online calibration of Mobile Robot and SLAM Device for Navigation