Title:Workspace Registration and Collision Detection for Industrial Robotics ApplicationsAuthor(s):Klaus Zauner, Andreas Müller, Hubert Gattringer, Josef El DibAbstract:Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are acquired using various sensors. The collision objects are identified by region growing segmentation and VCCS algorithm. Subsequently the point clusters are approximated. The aim of the present paper is to compare different sensors, to illustrate the process from detection to the finished collision environment and to detect collisions between the robot and this environment.Booktitle:AIRoV – The First Austrian Symposium on AI, Robotics, and Vision, 25.–27.3.2024, InnsbruckEditor(s):Innsbruck University PressPage Reference:8 page(s)Publishing:3/2024