Visual sensor fusion for active security in robotic industrial environments

摘要: This work presents a method of information fusion involving data captured by both standard charge-coupled device (CCD) camera and time-of-flight (ToF) to be used in the detection proximity between manipulator robot human. Both cameras are assumed located above area an industrial robot. The colour images makes it possible know 3D localization objects with respect world coordinate system. At same time, this allows their information. Considering that ToF given range contains innacuracies including distance error, border pixel saturation, some corrections over proposed developed improve results. uses calibration parameters reproject points, expressed common system for arm, 2D images. In addition this, using information, motion environment is achieved, applied foreground previously detected. combination results matrix links giving possibility characterising object its localisation. Further development these methods will make identify position real use prevent collisions such objects.