A 3D Representation of Obstacles in the Robots Reachable Area Considering Occlusions
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 8Language: englishTyp: PDF
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Authors:
Fetzner, Angelika; Frese, Christian; Frey, Christian (Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, Germany)
Abstract:
For human-robot interaction, a 3D representation of the robot’s close environment based on depth measurements is proposed. First, the current close range is defined by computing the reachable space of the robot. Then obstacles and occluded space within the close range are represented in an octree structure considering obstacle occlusions as well as robot occlusions. Based on the obstacle octree, the minimum distance between the robot and the surrounding obstacles is determined. Experimental results with depth sensor data from multiple on-board sensors of a mobile manipulator are shown.