Metric Pose Estimation for Human-Machine Interaction Using Monocular Vision

摘要

The rapid growth of collaborative robotics in production requires new automation technologies that take human and machine equally into account. In this work, we describe a monocular camera based system to detect human-machine interactions from a bird's-eye perspective. Our system predicts poses of humans and robots from a single wide-angle color image. Even though our approach works on 2D color input, we lift the majority of detections to a metric 3D space. Our system merges pose information with predefined virtual sensors to coordinate human-machine interactions. We demonstrate the advantages of our system in three use cases.