Human-robot Collaboration Focusing on Image Processing

Sammanfattning: The future manufacturing industry calls for a new generation of production so-lutions with high efficiency and flexibility. Therefore, research towards Human-Robot Collaboration (HRC) has recently aroused much attention in the field ofmanufacturing as it provides the possibility for harmonizing the accuracy of arobot with the flexibility of a human. The objective of the thesis is to proposea novel architecture for a Human-Robot Collaboration input system. The sys-tem receives video frames and depth information from an Intel®RealSense™Depth Camera D435 and recognize the closest point to the target object in the3D point cloud environment. Moreover, different algorithms and technologies,which are image filters for video preprocessing and nearest neighbor search algo-rithms for target detection, are applied to the system and evaluated to optimizethe performance. In this thesis, the system workflow is elaborated and an anal-ysis towards the performance of the system is presented based on quantitativemeasurements including refresh rate and error calculation.