By Topic

Surveillance of robots using multiple colour or depth cameras with distributed processing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Fischer, M. ; Lehrstuhl Angewandte Inf. III (Robotik und Eingebettete Syst.), Univ. Bayreuth, Bayreuth, Germany ; Henrich, D.

We introduce a general approach for surveillance of robots using depth images of multiple distributed smart cameras which can be either standard colour cameras or depth cameras. Unknown objects intruding the robot workcell are detected in the camera images and the minimum distance between the robot and all these detected unknown objects is calculated. The surveillance system is built as master-slave architecture with one slave per distributed camera. The level of distributed processing on the slaves (from pure image acquisition up to minimum distance calculation) controls the remaining computations on the master and thus the quality of approximation of the detected unknown objects. The calculated minimum distance and the asymptotic overall surveillance cycle time are evaluated in experiments.

Published in:

Distributed Smart Cameras, 2009. ICDSC 2009. Third ACM/IEEE International Conference on

Date of Conference:

Aug. 30 2009-Sept. 2 2009