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Correction of image coordinate using landmark for setting error

In recently years, the production method has changed from the diversification of a sense of values from mass production to diverse-types-and-small-quantity production on the production site. Therefore, a productive system that can correspond to changes in the environment is required. In a productive system that performs handling tasks, we use a hand-eye system with a camera and a manipulator and perform hand-eye calibration from two dimension images obtained by camera to the manipulator coordinates a three dimension system of in the hand-eye system. However, the camera and the manipulator positions in the previous system changed, and great error from the position, which performed the calibration, was caused even when the error was minute. Therefore, in this hand-eye system, changing this production system is difficult or re-calibration is needed. The projection matrix must be calculated so that the image coordinates obtained with the camera and the manipulator coordinates of three dimensions correspond again in the re-calibration. However, calculating the projection matrix requires great care. We propose a technique that simply calculates the manipulator coordinates of three dimensions from image coordinates without calculating the projection matrix again by correcting the image coordinates. Our experiment results show that the image coordinates can be corrected without calculating the projection matrix again using a landmark. In addition, a three-dimensional position was corrected simply, and we were able to handle the object.