Title :
A vision system for safe robot operation
Author :
Yeh, Pen-Shu ; Barash, Steve ; Wysocki, Edward
Author_Institution :
Martin Marietta Lab., Baltimore, MD, USA
Abstract :
A robotic vision system capable of detecting intruders and abnormalities in a gantry robot work space has been constructed to ensure the safe operation of the robot. The system uses two CCD video cameras mounted on the frame of the gantry for monitoring the work space and a novel four-point ranging algorithm for determining the relationship between the camera reference frame and the robot base frame. Intruder/abnormality location is found through a triangulation scheme based on features extracted from the two camera images. Without compensating for lens distortion, accuracy achieved for locating intruders is between 1/60 to 1/100 of depth
Keywords :
CCD image sensors; alarm systems; computer vision; computerised pattern recognition; robots; CCD video cameras; alarm systems; feature extraction; four-point ranging algorithm; intruder detection robots; triangulation scheme; vision system; Cameras; Layout; Machine vision; Monitoring; Object detection; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Space shuttles;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12272
