[ros-users] [Discourse.ros.org] [Computer Vision / Perception] Discussion on detection of people and obstacles in a dense crowd

[Jay Newman]

I agree about the need for safety.

In some of my previous robots, I had a "reflex system" that handled some failure cases. This was a simple processor that took in input from certain sensors and stopped the robot and then sent a message to the planner about why it had stopped. Until the planner sent the reflex processor a "chill out" message, the robot didn't move.

The reflex processor killed the motors with relays so that nothing could turn them on until the reflex processor was satisfied.

I used touch-sensors and floor sensors to make sure the robot wasn't heading over some stairs.

These were very simple robots compared to Groucho and they didn't use ROS.

I usually design my robots' brains with multiple functions/subsystems. The reflex processor is the one that is guaranteed to be a separate processor that is very simple.

I will use multiple segments to my touch-ring. This will give me a better idea of where the robot was touched the object. I may even have certain touch-sensors control the motor relays themselves after a given amount of pressure.

I have two Intel RealSense cameras that I plan to use for Groucho. I also have six webcams coming so I'll be able to handle using stereo vision if need be. I am still designing Groucho's head. I want it to look metallic while also looking like a caricature of Grouch Marx. Plus I will take some ideas from [Flash Robot](https://www.youtube.com/watch?v=P56Im9DlR3I). This is the most expressive head I've seen while still looking like a robot. I have 12 Dynamixel AX-12 servos that can be used for just the head if need be.

There will be at least one camera in the head for additional vision at a taller height. There will be at least 3 webcams in Groucho, in addition to the two RealSense cameras.

I'll be using an Intel NUC (latest generation) for Groucho's main brain. I may preprocess some of the cameras with another computer if that is needed. Or perhaps use a second NUC for vision processing. At this point, I haven't done much vision processing so I will have to do more before I can say anything. The base will have enough room for several processors.

And I think I'll add some temperature sensors for the lithium batteries to the refelx processor. I thank you for sharing that story with me.
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DangerousThink, AKA DT, Jay





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