对比多种传感器，实现工业机器人工作区的精准建模与碰撞检测。
Workspace Registration and Collision Detection for Industrial Robotics Applications
- 用点云数据结合区域生长与VCCS算法识别障碍物
- 通过点簇逼近构建完整碰撞环境模型
- 适合需要高精度避障的工业机器人场景
工业机器人运动规划依赖于对环境的精确理解，以定义禁区并考虑碰撞物体。本文采用多种传感器获取环境点云数据，利用区域生长分割和VCCS算法识别碰撞物体，对点簇进行近似处理。旨在比较不同传感器性能，展示从检测到构建完整碰撞环境的全流程，并实现机器人与环境间的碰撞检测。
原文摘要 · Abstract (English)
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are acquired using various sensors. The collision objects are identified by region growing segmentation and VCCS algorithm. Subsequently the point clusters are approximated. The aim of the present paper is to compare different sensors, to illustrate the process from detection to the finished collision environment and to detect collisions between the robot and this environment.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。