Publikationsdatenbank
Publication
Multi-camera Collision Detection between Known and Unknown ObjectsDominik 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 |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=gecks2008a |
BibTeX
@ARTICLE{gecks2008a,
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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=gecks2008a}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| gecks2008a.Multicamera.Collision.Detection.between.Known.and .Unknown.Objects.pdf |
2.6M | english | download preprint |