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  "abstract": "This disclosure describes a system for compensating for positional and orientational inaccuracies of a mobile robot base prior to executing a precision manipulation task. It addresses the challenge of achieving high-accuracy manipulation with a mobile platform that has inherent limitations in docking repeatability. An arm-mounted vision sensor detects fiducial markers on or near the target workpiece, allowing for real-time calculation of a correction transform. This transform adjusts the planned manipulator trajectory to account for the base's actual pose relative to the target, ensuring precise end-effector placement and orientation, or indicates when the error is too large to proceed safely.",
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  "keywords": [
    "mobile manipulation",
    "pose estimation",
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  "published_at": "2026-09-15T19:01:15.153569Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Mobile Manipulator Base Pose Correction via Arm-Mounted Vision",
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