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
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;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543530
