NDLI: 3D Position based multiple human servoing by low-level-control of 6 DOF industrial robot

Content Provider	IEEE Xplore Digital Library
Author	Nair, S. Dean-Leon, E. Knoll, A.
Copyright Year	2011
Description	Author affiliation: Technische Universität München, Fakultät für Infor-matik, Boltzmannstrasse 3, 87452 Garching bei München (Germany) (Nair, S.; Dean-Leon, E.; Knoll, A.)
Abstract	In this paper, we present a new vision-based multiple human tracking system. This novel 3D visual tracking system is capable of automatically identifying, labeling and tracking multiple humans in real-time even when they occlude each other. Furthermore, the multiple human tracker was implemented in a vision driven robot system for human robot interaction. The distributed system comprises of 4 subsystems: a)Multiple Human Tracking System, b) Robot Control System, c) 3D Visualization System and d) Remote Interface System. The Visual Tracking System performs real-time detection and tracking of humans in 3D within a large workspace. The Robot System uses the 3D position data of the targets obtained from the vision system to interact with the humans. The visual information is also used to monitor safe interaction within humans and robot. The Robot System is a 6DOF Stäubli TX90 industrial arm, controlled in real-time through a low-level interface. A real-time representation of the actual environment is rendered in 3D by the 3D Visualization System. The individual subsystems communicate with each other over a common communication engine based on TCP/IP. The complete system can be controlled and monitored through a wireless device.
Starting Page	2816
Ending Page	2823
File Size	876760
Page Count	8
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181732
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Target tracking Three dimensional displays Humans Service robots Robot vision systems
Content Type	Text
Resource Type	Article

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