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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GX20-24186X" target="_blank" >GX20-24186X: Vědomí celého povrchu těla pro bezpečnou a přirozenou interakci: od mozku ke kolaborativním robotům</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-6654-9190-7

ISSN

2153-0858

e-ISSN

2153-0866

Počet stran výsledku

8

Strana od-do

5958-5965

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Detroit, MA

Datum konání akce

1. 10. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001136907800090