Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are acquired using various sensors. The collision objects are identified by region growing segmentation and VCCS algorithm. Subsequently the point clusters are approximated. The aim of the present paper is to compare different sensors, to illustrate the process from detection to the finished collision environment and to detect collisions between the robot and this environment.

翻译：机器人操作臂的运动规划依赖于对环境信息的精确掌握，以便定义限制区域并考虑碰撞物体。为获取工作空间，需使用多种传感器采集环境的点云数据。碰撞物体通过区域生长分割与VCCS算法进行识别，随后对点簇进行近似拟合。本文旨在比较不同传感器的性能，阐述从检测到完整碰撞环境构建的全过程，并检测机器人与此环境之间的碰撞。