Multimodal RGB-D-T-scanning for interactive robot teaching

Yan Zhang; Gunther Notni

doi:10.1117/12.2673406

11 August 2023 Multimodal RGB-D-T-scanning for interactive robot teaching

Yan Zhang, Gunther Notni

Proceedings Volume 12623, Automated Visual Inspection and Machine Vision V; 126230H (2023) https://doi.org/10.1117/12.2673406
Event: SPIE Optical Metrology, 2023, Munich, Germany

Abstract

In this paper, we introduce an interactive multimodal vision-based robot teaching method. Here, a multimodal 3D image (color (RGB), thermal (T) and point cloud (3D)) was used to capture the temperature, texture and geometry information required to analyze human action. By our method, we only need to move our finger on an object surface, and then the heat traces left by the finger on the object surface will be recorded by the multimodal 3D sensor. By analyzing the multimodal point cloud dynamically, the accurate finger trace on the object is recognized. A robot trajectory is computed using this finger trace.

Conference Presentation

Citation Download Citation

Yan Zhang and Gunther Notni "Multimodal RGB-D-T-scanning for interactive robot teaching", Proc. SPIE 12623, Automated Visual Inspection and Machine Vision V, 126230H (11 August 2023); https://doi.org/10.1117/12.2673406

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