LEAD RESEARCHER: AYAN GHOSH
I am a post-doctoral researcher with the Autonomous
and Control Systems Engineering department at The
University of Sheffield. My research interests are AI-
based Human-Robot Interaction, next generation
interactive robot technologies and user-experience.
Over the years I have worked in multiple interdisciplinary
projects ranging from nuclear robotics to healthcare
robotics to robotics for fire-fighting. I joined the HRI-
working group for the RAIN Hub in 2018, my work mainly
focuses on the development of the perception system
for real-time environment reconstruction and spatial
mapping.
ROBOT PERCEPTION FOR
EFFICIENT HRI IN TWO-ARM
ROBOTIC WORK CELL
58
SUMMARY //
The goal of the project is to produce and demonstrate
an intelligent two arm robotic work cell for remotely
handling small sized nuclear waste. A key aspect
of any remote operation is that the operator needs
situational awareness and clarity for efficient HRI. This
necessitates an effective visualisation of the remote
environment in 3D, a labelled list of objects present in
the environment, together with the status of the robot
in an ergonomic way. This work focuses on a novel
robot perception system, including a real-time, high-
quality 3D scanning pipeline using stereo cameras, with
recognition, instantaneous segmentation and 6D-pose
estimation for small nuclear objects, thereby facilitating
the environment reconstruction process in VR.
