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Multi-camera Collision Detection between Known and Unknown Objects
Dominik Henrich , Thorsten Gecks

Abstract (english)
Today, real-time collision detection is a basic demand for many applications. While collision tests between known (modeled) objects have been around for quite a while, collision detection of known objects with dynamic, unknown (sensor-detected) objects remains a challenging field of research, especially when it comes to real-time requirements. The collision test described in this paper is based on several stationary, calibrated video cameras, each supervising the entire 3-dimensional space shared by unknown and known objects (e.g. humans and robots). Based on their images, potential collisions of the known objects in any of their (future) configurations with a priori unknown dynamic obstacles are detected. Occlusions caused by known objects (such as the robot or machinery set-up within the workspace) are detected and addressed in a safe manner by exploiting the geometrical information of the known objects and the epipolar line geometry of the calibrated cameras in a decision fusion process. The algorithm can be parameterized to adapt to different application demands. Experimental validation shows that real-time behaviour is possible in the presence of highly dynamic unknown obstacles as they occur when humans and robots share the same workspace for the accomplishment of a shared task. In effect, the vision-based collision test can safely be used for human-robot cooperation, intrusion detection, velocity damping, or obstacle avoidance.

Publication data

Year: 2008
Publication date: 07. September 2008
Source: 2nd ACM/IEEE International Conference on Distributed Smart Cameras
Project: SIMERO
Keywords (english): collision detection , vision


  TITLE             = "Multi-camera Collision Detection between Known and Unknown Objects",
  AUTHOR            = "Henrich, Dominik and Gecks, Thorsten",
  YEAR              = "2008",
  JOURNAL           = "2nd ACM/IEEE International Conference on Distributed Smart Cameras ",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
gecks2008a.Multicamera.Collision.Detection.between.Known.and.Unknown.Objects.pdf   2.6M   english   PDF   download preprint

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