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Towards safe human-robot interaction in robotic cells : An approach based on visual tracking and intention estimation

Bascetta, Luca; Ferretti, Gianni; Rocco, Paolo; Ardö, Håkan LU ; Bruyninckx, Herman; Demeester, Eric and Di Lello, Enrico (2011) 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 In IEEE International Conference on Intelligent Robots and Systems p.2971-2978
Abstract

Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems. An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction. This paper proposes advanced algorithms for cognitive vision, empowered by a dynamic model of human walking, for detection and tracking of humans. Intention estimation is then addressed as the problem of predicting online the trajectory of the human, given a set of trajectories of walking people learnt offline using an unsupervised classification algorithm. Results of the application of... (More)

Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems. An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction. This paper proposes advanced algorithms for cognitive vision, empowered by a dynamic model of human walking, for detection and tracking of humans. Intention estimation is then addressed as the problem of predicting online the trajectory of the human, given a set of trajectories of walking people learnt offline using an unsupervised classification algorithm. Results of the application of the presented approach to a large number of experiments on volunteers are also reported. © 2011 IEEE.

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organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
IEEE International Conference on Intelligent Robots and Systems
pages
8 pages
conference name
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
external identifiers
  • Scopus:84455200572
ISBN
9781612844541
DOI
10.1109/IROS.2011.6048287
language
English
LU publication?
yes
id
a7ffa049-0508-4960-b21a-dbe08a2fab44
date added to LUP
2016-04-07 13:43:39
date last changed
2017-01-01 08:22:00
@inproceedings{a7ffa049-0508-4960-b21a-dbe08a2fab44,
  abstract     = {<p>Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems. An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction. This paper proposes advanced algorithms for cognitive vision, empowered by a dynamic model of human walking, for detection and tracking of humans. Intention estimation is then addressed as the problem of predicting online the trajectory of the human, given a set of trajectories of walking people learnt offline using an unsupervised classification algorithm. Results of the application of the presented approach to a large number of experiments on volunteers are also reported. © 2011 IEEE.</p>},
  author       = {Bascetta, Luca and Ferretti, Gianni and Rocco, Paolo and Ardö, Håkan and Bruyninckx, Herman and Demeester, Eric and Di Lello, Enrico},
  booktitle    = {IEEE International Conference on Intelligent Robots and Systems},
  isbn         = {9781612844541},
  language     = {eng},
  pages        = {2971--2978},
  title        = {Towards safe human-robot interaction in robotic cells : An approach based on visual tracking and intention estimation},
  url          = {http://dx.doi.org/10.1109/IROS.2011.6048287},
  year         = {2011},
}