Tuesday February 12 , 16h00 - 17h00 , room C208 , Seminar

Alexander Ladikos (Technical University Munich)

Real-Time 3D Reconstruction for Collision Avoidance

With the recent introduction of a high-speed robot-based device for use during medical interventions, safety concerns regarding collisions with clinical staff and other objects have become of big importance. Collisions have to be avoided both for the sake of the staff who could suffer serious injury due to the speed and weight of the robot and for the sake of the robot itself which is sensitive and very costly. In this talk, we present a real-time 3D reconstruction system that aims at detecting possible collisions of the robot with other objects by reconstructing all objects in the working area. Due to the use in a real-world environment, the requirements on the reconstruction system regarding robustness, speed and precision are very high. We describe our hardware setup, the reconstruction algorithms used and discuss current and future challenges associated with this project.