대한임베디드공학회논문지 (IEMEK Journal of Embedded Systems and Applications)

대한임베디드공학회 (Institute of Embedded Engineering of Korea)
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다중 도메인 비전 시스템 기반 제조 환경 안전 모니터링을 위한 동적 3D 작업자 자세 정합 기법

Dynamic 3D Worker Pose Registration for Safety Monitoring in Manufacturing Environment based on Multi-domain Vision System

  • Ji Dong Choi (Korea Institute of Industrial Technology, Kyungpook National University) ;
  • Min Young Kim (Kyungpook National University) ;
  • Byeong Hak Kim (Korea Institute of Industrial Technology)
  • 투고 : 2023.09.29
  • 심사 : 2023.11.20
  • 발행 : 2023.12.31
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초록

A single vision system limits the ability to accurately understand the spatial constraints and interactions between robots and dynamic workers caused by gantry robots and collaborative robots during production manufacturing. In this paper, we propose a 3D pose registration method for dynamic workers based on a multi-domain vision system for safety monitoring in manufacturing environments. This method uses OpenPose, a deep learning-based posture estimation model, to estimate the worker's dynamic two-dimensional posture in real-time and reconstruct it into three-dimensional coordinates. The 3D coordinates of the reconstructed multi-domain vision system were aligned using the ICP algorithm and then registered to a single 3D coordinate system. The proposed method showed effective performance in a manufacturing process environment with an average registration error of 0.0664 m and an average frame rate of 14.597 per second.

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과제정보

This study has been conducted with the support of the Korea Institute of Industrial Technology (KITECH). This work was supported by the Industrial Technology Innovation Program (20016970, Development of Cooperative Robot SI (System Integration) Service based on Safety Intelligence) funded by the Ministry of Trade Industry & Energy (MOTIE, Korea), This work was supported by the Industrial Technology Innovation Program(20018288, Development of 150-ton crawler crane with vision-based intelligent safety management system) funded by the Ministry of Trade Industry & Energy(MOTIE, Korea), and the Core Research Institute Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2021R1A6A1A03043144) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2022R1A2C2008133).

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