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Multi-Camera Collision Detection allowing for Object Occlusions
Thorsten Gecks , Dominik Henrich

Abstract (english)
A multi-camera-based collision detection system is presented. We describe the computation of global collision information for the entire surveilled workspace based on local collision information extracted from camera images. If there are known occlusions (e.g., by the robot), the system is able to recover object collision information by fusing multiple camera images. The algorithm presented is part of the safety system of a prototype realizing human-robot-cooperation.

Publication data

Year: 2006
Publication date: 15. May 2006
Source: 37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006
Project: SIMERO
Keywords (english): collision detection , path planning
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=gecks2006a

BibTeX

@ARTICLE{gecks2006a,
  TITLE             = "Multi-Camera Collision Detection allowing for Object Occlusions",
  AUTHOR            = "Gecks, Thorsten and Henrich, Dominik",
  YEAR              = "2006",
  JOURNAL           = "37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=gecks2006a}",
}

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gecks2006a.MultiCamera.Collision.Detection.allowing.for.Object.Occlusions.pdf   676.8K   english   PDF   download preprint


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