This work presents the development of a perception pipeline to passively track the partial human ground pose in the context of human robot collaboration. The main motivation behind this work is to provide a speed and separation monitoring based safety controller with an estimate of human position on the factory floor. Three time-of-flight sensing rings affixed to the major links of an industrial manipulator are used to implement the aforementioned. Along with a convolutional neural network based unknown obstacle detection strategy, the ground position of the human operator is estimated and tracked using sparse 3-D point inputs. Experiments to analyze the viability of our approach are presented in depth in the further sections which involve real-world and synthetic datasets. Ultimately, it is shown that the sensing system can provide reliable information intermittently and can be used for higher level perception schemes.

Library of Congress Subject Headings

Human-robot interaction--Safety measures; Robots, Industrial--Safety measures; Wireless sensor networks; Speed--Measurement; Proximity detectors

Publication Date


Document Type


Student Type


Degree Name

Electrical Engineering (MS)

Department, Program, or Center

Electrical Engineering (KGCOE)


Ferat Sahin

Advisor/Committee Member

Gill R Tsouri

Advisor/Committee Member

Sohail Dianat


RIT – Main Campus

Plan Codes