Robotics: Science and Systems XVII 2021
DOI: 10.15607/rss.2021.xvii.045
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Active Safety Envelopes using Light Curtains with Probabilistic Guarantees

Abstract: To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of a much cheaper and higher resolution sensor: programmable light curtains. Light curtains are controllable depth sensors that sense only along a surface that a user selects. We use light curtains to estimate the safety envelope of a scene: a hypothetical surface that separates the robot from all obstacles. We show that generating lig… Show more

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Cited by 4 publications
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