  Robot navigation technology is required to accomplish difficult tasks in
various environments. In navigation, it is necessary to know the information of
the external environments and the state of the robot under the environment. On
the other hand, various studies have been done on SLAM technology, which is
also used for navigation, but also applied to devices for Mixed Reality and the
like.
  In this paper, we propose a robot-device calibration method for navigation
with a device using SLAM technology on a robot. The calibration is performed by
using the position and orientation information given by the robot and the
device. In the calibration, the most efficient way of movement is clarified
according to the restriction of the robot movement. Furthermore, we also show a
method to dynamically correct the position and orientation of the robot so that
the information of the external environment and the shape information of the
robot maintain consistency in order to reduce the dynamic error occurring
during navigation.
  Our method can be easily used for various kinds of robots and localization
with sufficient precision for navigation is possible with offline calibration
and online position correction. In the experiments, we confirm the parameters
obtained by two types of offline calibration according to the degree of freedom
of robot movement and validate the effectiveness of online correction method by
plotting localized position error during robot's intense movement. Finally, we
show the demonstration of navigation using SLAM device.
