TY - GEN
T1 - Efficient 3D voxel reconstruction of human shape within robotic work cells
AU - Stengel, Dominik
AU - Wiedemann, Thomas
AU - Vogel-Heuser, Birgit
PY - 2012
Y1 - 2012
N2 - In this paper an efficient voxel reconstruction method within a robotic work cell by means of shape from silhouette is presented. A procedure is proposed which includes occlusions from the robot's kinematics into the reconstruction step, i.e. the time-dependent occupied space. Axis values together with surface models from the robot are used for modeling occlusions coming from the moving device. An image-based method for simplified in-place frame calibration is shown and compared to a regular marker-based method. A learning method for background models is introduced, which includes overlapping image areas from the robot and offers improved learning rates. For efficiency reasons the implementation was done on the GPU. The achieved performance using five cameras in an industrial setting is shown and discussed with respect to quality and framerates.
AB - In this paper an efficient voxel reconstruction method within a robotic work cell by means of shape from silhouette is presented. A procedure is proposed which includes occlusions from the robot's kinematics into the reconstruction step, i.e. the time-dependent occupied space. Axis values together with surface models from the robot are used for modeling occlusions coming from the moving device. An image-based method for simplified in-place frame calibration is shown and compared to a regular marker-based method. A learning method for background models is introduced, which includes overlapping image areas from the robot and offers improved learning rates. For efficiency reasons the implementation was done on the GPU. The achieved performance using five cameras in an industrial setting is shown and discussed with respect to quality and framerates.
KW - 3D Voxel Reconstruction
KW - Industrial Human-Robot Cooperation
KW - Multi-View Moving Object Detection
UR - http://www.scopus.com/inward/record.url?scp=84867596027&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6284339
DO - 10.1109/ICMA.2012.6284339
M3 - Conference contribution
AN - SCOPUS:84867596027
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 1386
EP - 1392
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -