TY - GEN
T1 - Human Position Detection Using Point Cloud Data for Human-Robot Safety Systems
AU - Amer, Nehal
AU - Humphries, Jacqueline
AU - Nandeshwar, Nitin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Artificial Intelligence algorithms have become extremely fast at identifying humans in real time. However, as Industry moves more towards collaborative working with robots and machines, the identification of humans is not sufficient. Knowledge of the exact location, and trajectory of the human movement is needed so that safe collaborative environments are built. This study presents an architecture that can be used to identify humans and extract their position in the space. The proposed system uses the Mask R-CNN instance segmentation model for identification of humans. The pixels which belong to each human in the image captured are identified. Then, the extracted pixels are mapped to the depth and point cloud images obtained from Azure Kinect camera to extract the positional data for each human in space. The impact of this research paper is that we propose a solution that captures XYZ co-ordinates of humans in a space.
AB - Artificial Intelligence algorithms have become extremely fast at identifying humans in real time. However, as Industry moves more towards collaborative working with robots and machines, the identification of humans is not sufficient. Knowledge of the exact location, and trajectory of the human movement is needed so that safe collaborative environments are built. This study presents an architecture that can be used to identify humans and extract their position in the space. The proposed system uses the Mask R-CNN instance segmentation model for identification of humans. The pixels which belong to each human in the image captured are identified. Then, the extracted pixels are mapped to the depth and point cloud images obtained from Azure Kinect camera to extract the positional data for each human in space. The impact of this research paper is that we propose a solution that captures XYZ co-ordinates of humans in a space.
KW - Point cloud
KW - artificial intelligence
KW - human detection
KW - human-robot safety system
UR - http://www.scopus.com/inward/record.url?scp=85156163789&partnerID=8YFLogxK
U2 - 10.1109/ICMERR56497.2022.10097801
DO - 10.1109/ICMERR56497.2022.10097801
M3 - Conference contribution
AN - SCOPUS:85156163789
T3 - 2022 7th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2022
SP - 219
EP - 223
BT - 2022 7th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2022
Y2 - 9 December 2022 through 11 December 2022
ER -