Article Free Access Share on Planning as feedback to designers Authors: J. Mills Martin Marietta Labs, Baltimore, MD Martin Marietta Labs, Baltimore, MDView Profile , Y. Sekine Martin Marietta Labs, Baltimore, MD Martin Marietta Labs, Baltimore, MDView Profile , E. Wysocki View Profile , W. Furth View Profile , K. Otwell View Profile , S. Jameson View Profile , A. Burzio View Profile Authors Info & Claims IEA/AIE '89: Proceedings of the 2nd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 1June 1989Pages 374–381https://doi.org/10.1145/66617.66663Published:06 June 1989Publication History 1citation220DownloadsMetricsTotal Citations1Total Downloads220Last 12 Months4Last 6 weeks2 Get Citation AlertsNew Citation Alert added!This alert has been successfully added and will be sent to:You will be notified whenever a record that you have chosen has been cited.To manage your alert preferences, click on the button below.Manage my AlertsNew Citation Alert!Please log in to your account Save to BinderSave to BinderCreate a New BinderNameCancelCreateExport CitationPublisher SiteeReaderPDF

A robotic vision system capable of detecting intruders and abnormalities in a gantry robot work space has been constructed to ensure the safe operation of the robot. The system uses two CCD video cameras mounted on the frame of the gantry for monitoring the work space and a novel four-point ranging algorithm for determining the relationship between the camera reference frame and the robot base frame. Intruder/abnormality location is found through a triangulation scheme based on features extracted from the two camera images. Without compensating for lens distortion, accuracy achieved for locating intruders is between 1/60 to 1/100 of depth.>