A hierarchy of detail for fast collision detection

Martínez-Salvador, Begoña; Pobil, Ángel P. del; Pérez-Francisco, Miguel

doi:10.1109/iros.2000.894693

Cited by 17 publications

(12 citation statements)

References 4 publications

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“…Moreover, geometric representations of human and robotic manipulators have been used to obtain a spatial representation in human-robot collaboration tasks. Numerical algorithms are then used to compute the minimum distance between human and robot and to search for collision-free paths [9][10][11][12]. Methods have been proposed involving the combination of different types of devices to help avoid collisions.…”

Section: Collision Avoidancementioning

confidence: 99%

Visual sensor fusion for active security in robotic industrial environments

Robla

Llata

Torre-Ferrero

et al. 2014

EURASIP J. Adv. Signal Process.

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This work presents a method of information fusion involving data captured by both a standard charge-coupled device (CCD) camera and a time-of-flight (ToF) camera to be used in the detection of the proximity between a manipulator robot and a human. Both cameras are assumed to be located above the work area of an industrial robot. The fusion of colour images and time-of-flight information makes it possible to know the 3D localization of objects with respect to a world coordinate system. At the same time, this allows to know their colour information. Considering that ToF information given by the range camera contains innacuracies including distance error, border error, and pixel saturation, some corrections over the ToF information are proposed and developed to improve the results. The proposed fusion method uses the calibration parameters of both cameras to reproject 3D ToF points, expressed in a common coordinate system for both cameras and a robot arm, in 2D colour images. In addition to this, using the 3D information, the motion detection in a robot industrial environment is achieved, and the fusion of information is applied to the foreground objects previously detected. This combination of information results in a matrix that links colour and 3D information, giving the possibility of characterising the object by its colour in addition to its 3D localisation. Further development of these methods will make it possible to identify objects and their position in the real world and to use this information to prevent possible collisions between the robot and such objects.

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Section: Collision Avoidancementioning

confidence: 99%

Visual sensor fusion for active security in robotic industrial environments

Robla

Llata

Torre-Ferrero

et al. 2014

EURASIP J. Adv. Signal Process.

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show abstract

“…[4], [22], [23], [24], [25], [26], [27], or even to adapt to variable coherence [2]. A related issue is the design of suitable representations to speed up the broad phase aimed at selecting few pairs of primitive volumes (e.g., convex polyhedra) for the proximity tests.…”

Section: Related Workmentioning

confidence: 99%

Incremental Convex Minimization for Computing Collision Translations of Convex Polyhedra

2007

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Abstract-The subject of this paper is an asymptotically fast and incremental algorithm for computing collision translations of convex polyhedra, where the problem at hand is reduced to determining collision translations of pairs of planar sections and minimizing a bivariate convex function. There are two main reasons, in our view, why the algorithm is worth consideration. On the one hand, the addressed proximity measure, namely collision translation, is not as widely studied as distance. On the other, its peculiar computation strategy may be interesting in itself, being well suited to work without initialization and also endowed with an inherently embedded mechanism to exploit spatial coherence. After outlining the main ideas of this novel approach and providing an estimation of the computational costs, we summarize a broad set of numerical experiments meant to explore extensively the behavior of the algorithm, both without and with initialization. Finally, in order to assess the efficacy and the potential of the approach under analysis, the attained performances are contrasted with those of other popular algorithms designed to compute distances between polyhedra. A thorough comparison of the reported query times and, more significantly, of the corresponding trends shows that the behavior of the collision translation algorithm is quite interesting, especially when used without initialization or under variable coherence, which should encourage further work on this approach.

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“…For the obstacle avoidance function, the distance between the robot and the nearest obstacle is taken as the distance between the closest point on the robot and the closest point on the obstacle. The distance between the robot and the nearest obstacle, as well as the distance between the robot and the non-interacting parts of the user are estimated using the hierarchy of spheres representation (Martinez-Salvador, del Pobil et al, 2000), illustrated in Figure 3. In this approach, the robot and the obstacles in the environment are described as a set of enveloping spheres 2 .…”

Section: Goal and Obstacle Potential Fieldsmentioning

confidence: 99%

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

Croft

2006

Mobile Robots: Towards New Applications

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A hierarchy of detail for fast collision detection

Cited by 17 publications

References 4 publications

Visual sensor fusion for active security in robotic industrial environments

Visual sensor fusion for active security in robotic industrial environments

Incremental Convex Minimization for Computing Collision Translations of Convex Polyhedra

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

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