Publications:Safety standard for mobile robots : a proposal for 3D sensors
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| Title | Safety standard for mobile robots : a proposal for 3D sensors |
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| Author | |
| Year | 2011 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | Proceedings of the 5th European Conference on Mobile Robots, ECMR'2011 |
| Conference | The 5th European Conference on Mobile Robots, ECMR 2011, Örebro, Sweden, September 7-9, 2011 |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:438312 |
| Abstract | In this paper we present a new and uniform way of evaluate 3D sensor performance. It is rare that standardized test specifications are used in research on mobile robots. A test rig with objects in the industrial safety standard Safety of industrial trucks - driverless trucks and their systems EN1525 is extended by thin vertical and horizontal objects that represent a fork on a forklift, a ladder and a hanging cable. A comparison of atrinocular stereo vision system, a 3D TOF (Time- Of-Flight) range camera and a Kinect device is made to verify the use of the test rig. All sensors detect the objects in the safety standard EN1525. The Kinect and 3D TOF camera shows reliable results for the objects in the safety standard at distances up to 5 m. The trinocular system is the only sensor in the test that detects the thin structures. The proposed test rig can be used to evaluate sensors to detect thin structures. |
