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A 3D representation of obstacles in the robot's reachable area considering occlusions

 
: Fetzner, Angelika; Frese, Christian; Frey, Christian

:
Volltext urn:nbn:de:0011-n-2986090 (3.7 MByte PDF)
MD5 Fingerprint: 1eb32e3691037b2684ad445fd76784bc
Erstellt am: 7.8.2014


Verband Deutscher Elektrotechniker e.V. -VDE-, Berlin:
ISR/Robotik 2014, Joint Conference of 45th International Symposium on Robotics and 8th German Conference on Robotics. Proceedings. CD-ROM : 2 -3 June 2014, Munich, Germany, parallel to AUTOMATICA
Berlin: VDE-Verlag, 2014
ISBN: 978-3-8007-3601-0
S.85-92
International Symposium on Robotics (ISR) <45, 2014, Munich>
German Conference on Robotics (ROBOTIK) <8, 2014, Munich>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

Abstract
For human-robot interaction, a 3D representation of the robot’s close environment based on depth measurements is proposed. First, the current close range is defined by computing the reachable space of the robot. Then obstacles and occluded space within the close range are represented in an octree structure considering obstacle occlusions as well as robot occlusions. Based on the obstacle octree, the minimum distance between the robot and the surrounding obstacles is determined. Experimental results with depth sensor data from multiple on-board sensors of a mobile manipulator are shown.

: http://publica.fraunhofer.de/dokumente/N-298609.html