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The quality of robot vision greatly affects the performance of automationsystems, where occlusions stand as one of the biggest challenges. If the targetis occluded from the sensor, detecting and grasping such objects become verychallenging. For example, when multiple robot arms cooperate in a singleworkplace, occlusions will be created under the robot arm itself and hideobjects underneath. While occlusions can be greatly reduced by installingmultiple sensors, the increase in sensor costs cannot be ignored. Moreover, thesensor placements must be rearranged every time the robot operation routine andlayout change.  To diminish occlusions, we propose the first robot vision system withtilt-type mirror reflection sensing. By instantly tilting the sensor itself, weobtain two sensing results with different views: conventional directline-of-sight sensing and non-line-of-sight sensing via mirror reflections. Ourproposed system removes occlusions adaptively by detecting the occlusions inthe scene and dynamically configuring the sensor tilt angle to sense thedetected occluded area. Thus, sensor rearrangements are not required even afterchanges in robot operation or layout. Since the required hardware is thetilt-unit and a commercially available mirror, the cost increase is marginal.Through experiments, we show that our system can achieve a similar detectionaccuracy as systems with multiple sensors, regardless of the single-sensorimplementation.

Through the Looking Glass: Diminishing Occlusions in Robot Vision Systems with Mirror Reflections