Sparse Optical Sampling in the Close Proximity of a Robotic Arm
摘要
Close collaboration between humans and robots needs a sensing infrastructure to monitor the robot environment and secure human-robot interaction. In this context, we investigate sparse optical range sampling using a distributed network of robot mounted Time-of-Flight (ToF) sensors. We present an evaluation of sensor candidates, provide experimental characterization of an early prototype and show strategies for environment modeling and object reconstruction.