WP4: Vision-based Perception
This WP will support the high-level decision processes in REMODEL through the perception of dynamic information, such environment reconstruction, real time cable tracking for manipulation activities, as well as detection of the current assembly task configuration and component localization. Moreover, the vision system will be exploited to address the safety requirements defined in T2.4, to detect safety areas, change operational modes accordingly, adapt the robot speed and perform robot stopping functions.
Task 4.1: Implementation of the multi-level camera system [Leader: TUM]
Task 4.2: 3D dynamic environment mapping [Leader: TUM]
Task 4.3: Cable detection and tracking [Leader: UNIBO]
Task 4.4: Functional component detection [Leader: TUM]