Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees
Safe human-robot collaboration (HRC) requires accurate human pose estimation and motion prediction to prevent critical collisions. Existing certifiable safe HRC approaches are highly conservative or rely on marker-based motion tracking, while vision-based pose estimators lack the statistical guarantees required for certification in accordance with ISO 13849-1. Hence, we propose a pipeline that predicts 3D human motion and strong probabilistic bounds on the prediction error using conformal prediction. A gradient-based monitor detects out-of-distribution input poses and replaces them with poses from past predicted motions to maintain smooth operation. The resulting conformal prediction sets...
| Authors | Jakob Thumm, Marian Frei, Tianle Ni et al. |
|---|---|
| Primary category | cs.RO |
| Published | 16 April 2026 |
| Last updated at source | 23 September 2026 |
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