DocumentCode
1868880
Title
Safety for a robot arm moving amidst humans by using panoramic vision
Author
Cervera, Enric ; Aracil, Nicolas Garcia ; Martinez, Ester ; Nomdedeu, Leo ; Pobil, Angel P del
Author_Institution
Robotic Intell. Lab., Jaume-I Univ., Castellon
fYear
2008
fDate
19-23 May 2008
Firstpage
2183
Lastpage
2188
Abstract
This paper describes how the use of panoramic cameras can dramatically simplify safety issues for a robot arm moving in close proximity to human beings, since they can simultaneously observe a 360deg field of view. We present in this context an approach to visual servoing in which both the manipulator as well as any other moving object are tracked. Reliability and robustness are enhanced by adaptative background modelling and global illumination change detection.
Keywords
computer vision; manipulators; safety; visual servoing; adaptive background modelling; global illumination change detection; manipulator; moving object; panoramic cameras; panoramic vision; reliability; robot arm; robustness; safety issues; visual servoing; Cameras; Humans; Lenses; Lighting; Manipulators; Robot vision systems; Robotics and automation; Robustness; Safety; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543530
Filename
4543530
Link To Document