Sensor- and Plausibility-based Surveillance of Human/Robot-Workspaces

We introduce an approach of multi-view based surveillance of human/robot workspaces. Unknown objects within a robot workcell as e.g. humans are to be detected to avoid accidents with the robot. Therefore, two aspects are to be discussed: First, the reconstruction of regions within the robot workcell which are potentially occupied by unknown objects based on sensor data and additional plausibility criterions. Second, since the quality of reconstruction mainly depends on the placement of the sensors, objective functions and optimal values for this purpose are presented.