{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T07:27:26Z","timestamp":1785742046565,"version":"3.56.0"},"reference-count":62,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2019,7,22]],"date-time":"2019-07-22T00:00:00Z","timestamp":1563753600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. This paper describes a novel vision system to track and estimate the depth of metallic targets for robotic interventions. The system has been designed for on-hand monocular cameras, focusing on solving lack of visibility and partial occlusions. This solution has been validated during real interventions at the Centre for Nuclear Research (CERN) accelerator facilities, achieving 95% success in autonomous mode and 100% in a supervised manner. The system increases the safety and efficiency of the robotic operations, reducing the cognitive fatigue of the operator during non-critical mission phases. The integration of such an assistance system is especially important when facing complex (or repetitive) tasks, in order to reduce the work load and accumulated stress of the operator, enhancing the performance and safety of the mission.<\/jats:p>","DOI":"10.3390\/s19143220","type":"journal-article","created":{"date-parts":[[2019,7,22]],"date-time":"2019-07-22T11:07:28Z","timestamp":1563793648000},"page":"3220","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5599-1476","authenticated-orcid":false,"given":"Carlos","family":"Veiga Almagro","sequence":"first","affiliation":[{"name":"CERN, EN-SMM Survey, Measurement and Mechatronics group, 1217 Geneva, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2513-967X","authenticated-orcid":false,"given":"Mario","family":"Di Castro","sequence":"additional","affiliation":[{"name":"CERN, EN-SMM Survey, Measurement and Mechatronics group, 1217 Geneva, Switzerland"},{"name":"Centro de Automatica y Robotica (CAR) UPM-CSIC, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2395-2496","authenticated-orcid":false,"given":"Giacomo","family":"Lunghi","sequence":"additional","affiliation":[{"name":"CERN, EN-SMM Survey, Measurement and Mechatronics group, 1217 Geneva, Switzerland"},{"name":"Interactive Robotic Systems Lab, Jaume I University of Castell\u00f3n, 12006 Castell\u00f3n de la Plana, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2340-4126","authenticated-orcid":false,"given":"Ra\u00fal","family":"Mar\u00edn Prades","sequence":"additional","affiliation":[{"name":"CERN, EN-SMM Survey, Measurement and Mechatronics group, 1217 Geneva, Switzerland"},{"name":"Interactive Robotic Systems Lab, Jaume I University of Castell\u00f3n, 12006 Castell\u00f3n de la Plana, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3382-1553","authenticated-orcid":false,"given":"Pedro Jos\u00e9","family":"Sanz Valero","sequence":"additional","affiliation":[{"name":"Interactive Robotic Systems Lab, Jaume I University of Castell\u00f3n, 12006 Castell\u00f3n de la Plana, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0030-1551","authenticated-orcid":false,"given":"Manuel Ferre","family":"P\u00e9rez","sequence":"additional","affiliation":[{"name":"Centro de Automatica y Robotica (CAR) UPM-CSIC, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9237-3140","authenticated-orcid":false,"given":"Alessandro","family":"Masi","sequence":"additional","affiliation":[{"name":"CERN, EN-SMM Survey, Measurement and Mechatronics group, 1217 Geneva, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,7,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"37506","DOI":"10.1109\/ACCESS.2018.2849572","article-title":"CERNTAURO: A Modular Architecture for Robotic Inspection and Telemanipulation in Harsh and Semi-Structured Environments","volume":"6","author":"Ferre","year":"2018","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1023\/A:1012603025802","article-title":"The ISOLDE facility","volume":"129","author":"Kugler","year":"2000","journal-title":"Hyperfine Interact."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Di Castro, M., Almagro, C.V., Lunghi, G., Marin, R., Ferre, M., and Masi, A. 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