Sensor- and Plausibility-based Surveillance of Human/Robot-Workspaces

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 6Sprache: EnglischTyp: PDF

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Hänel, Maria; Fischer, Markus; Kuhn, Stefan; Henrich, Dominik (Lehrstuhl Angewandte Informatik III, Robotik und Eingebettete Systeme, Universität Bayreuth, Germany)

We introduce an approach of multi-view based surveillance of human/robot workspaces. Unknown objects within a robot workcell as e.g. humans are to be detected to avoid accidents with the robot. Therefore, two aspects are to be discussed: First, the reconstruction of regions within the robot workcell which are potentially occupied by unknown objects based on sensor data and additional plausibility criterions. Second, since the quality of reconstruction mainly depends on the placement of the sensors, objective functions and optimal values for this purpose are presented.