Perirobot Space Representation for HRI: Measuring and Designing Collaborative Workspace Coverage by Diverse Sensors

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367323" target="_blank" >RIV/68407700:21230/23:00367323 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS55552.2023.10341829" target="_blank" >https://doi.org/10.1109/IROS55552.2023.10341829</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS55552.2023.10341829" target="_blank" >10.1109/IROS55552.2023.10341829</a>

Result language
angličtina
Original language name
Perirobot Space Representation for HRI: Measuring and Designing Collaborative Workspace Coverage by Diverse Sensors
Original language description
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors (like cameras, RGB-D cameras, LIDARs), proximity sensors, or dedicated devices used in industrial settings like pads that are activated by the presence of the operator. The deployment of a particular solution is often ad hoc and no unified representation of the interaction space or its coverage by the different sensors exists. In this work, we make first steps in this direction by defining the spaces to be monitored, representing all sensor data as information about occupancy and using occupancy-based metrics to calculate how a particular sensor covers the workspace. We demonstrate our approach in two sensor-placement experiments in three static scenes and one experiment in a dynamic scene. The occupancy representation allow the comparison of the effectiveness of various sensor setups. Therefore, this approach can serve as a prototyping tool to establish the sensor setup that provides the most efficient coverage for the given metrics and sensor representations.
Czech name
—
Czech description
—

Project
<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
978-1-6654-9190-7
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
5958-5965
Publisher name
IEEE
Place of publication
Piscataway
Event location
Detroit, MA
Event date
Oct 1, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001136907800090

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