Abstract

This work presents the development of a perception pipeline to passively track the partial human ground pose in the context of human robot collaboration. The main motivation behind this work is to provide a speed and separation monitoring based safety controller with an estimate of human position on the factory floor. Three time-of-flight sensing rings affixed to the major links of an industrial manipulator are used to implement the aforementioned. Along with a convolutional neural network based unknown obstacle detection strategy, the ground position of the human operator is estimated and tracked using sparse 3-D point inputs. Experiments to analyze the viability of our approach are presented in depth in the further sections which involve real-world and synthetic datasets. Ultimately, it is shown that the sensing system can provide reliable information intermittently and can be used for higher level perception schemes.

Publication Date

12-2019

Document Type

Thesis

Student Type

Graduate

Degree Name

Electrical Engineering (MS)

Department, Program, or Center

Electrical Engineering (KGCOE)

Advisor

Ferat Sahin

Advisor/Committee Member

Gill R Tsouri

Advisor/Committee Member

Sohail Dianat

Campus

RIT – Main Campus

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