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

Content Provider	IEEE Xplore Digital Library
Author	Bascetta, L. Ferretti, G. Rocco, P. Ardo, H. Bruyninckx, H. Demeester, E. Di Lello, E.
Copyright Year	2011
Description	Author affiliation: Department of Mathematics, Lund University, 22100, Sweden (Ardo, H.) \|\| Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. Da Vinci 32, 20133, Italy (Bascetta, L.; Ferretti, G.; Rocco, P.) \|\| Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium (Bruyninckx, H.; Demeester, E.; Di Lello, E.)
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 the presented approach to a large number of experiments on volunteers are also reported.
Starting Page	2971
Ending Page	2978
File Size	1400329
Page Count	8
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094642
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Hidden Markov models Legged locomotion Estimation Cameras Trajectory
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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