Projective Augmented Reality (AR) systems are widely used in robotics. Main applications include information visualization to illustrate the intention of a robot or mobile platform, failure modes or teaching. A new topic in the field of projective AR for human-robot cooperation (HRC) states the visualization of safety-related information. In this industry practice paper, we present a system and method that realizes the illustration of safety zones monitored by laser-scanners. Furthermore, the system was build-up at a real industrial application with human- robot coexistence in a shared workspace.

Capable mobile manipulators require sophisticated sensing and environment perception. An important task is the precise localization of objects to be handled. In order to be able to deal with a wide variety of applications, sensor systems need to be able to work with glossy, shiny or transparent objects. Here we present an approach to that problem based on analyzing specular reflections using a custom build, head mounted light-field camera. We derive a suitable algorithm including highlight feature detection as well as highlight depth estimation and will present exemplary results.

Human-robot interaction in a shared workspace permits and often even requires physical contact between humans and robots. A key technology to ensure that physical human robot interaction is safe is to monitor contact forces by providing the robot with a tactile sensor as an artificial skin.

Large waste water pipes are a hazardous working environment for humans. Nevertheless such pipes must be inspected on a regular basis. Many of todaypsilas inspection systems for underground sewer pipes consist of a single TV-camera and are designed for pipes smaller than one meter in diameter. The most recent automatic inspection systems are equipped with advanced sensors that make it possible for an operator to perform this task from an outside position for larger pipes (diameter between 1.4 to 2.8 meters). The cable-guided damage surveying system, SEK, (see Fig. 1) was developed by the Fraunhofer IFF on behalf of the Emschergenossenschaft to be a versatile and easy-to-use tool to detect various kinds of damages above and below the water-line with high accuracy.