Vision based safety system for human and robot arm detection*

We present a vision based system for the advanced recognition of danger situation for safety control. The sequence of the images from two cameras located above the robot is presented to the system in order to detect a new object appearing in dangerous zone, near the robot arm. Presented safety system was developed for human-robot cooperative system, in which the machine region and the human region cannot be separated due to the overlap and the movement both from human and from machines. Experiments conducted using low quality images indicate that our system can work in a real time and detect successively dangerous situations in the presence of high level of noise and for wide range of illumination level.