Enhanced Human-Machine Interaction by Combining Proximity Sensing with Global Perception

Video accompanying our submission "Enhanced Human-Machine Interaction by Combining Proximity Sensing with Global Perception" to the 2nd Workshop on Proximity Perception IROS 2019. We describe an optical system for large workspaces to capture human pose based on a single panoramic color camera. Despite the two-dimensional input, our system is able to predict metric 3D pose information over larger field of views than would be possible with active depth measurement cameras. We merge posture context with proximity perception to reduce occlusions and improve accuracy at long distances. We demonstrate the capabilities of our system in two use cases involving multiple humans and robots.