Declarative Rule-based Safety for Robotic Perception Systems

  • Johann Thor Mogensen Ingibergsson University of southern Denmark, CLAAS E-Systems
  • Dirk Kraft University of southern Denmark,
  • Ulrik Pagh Schultz University of southern Denmark,


Mobile robots are used across many domains from personal care to agriculture. Working in dynamic open-ended
environments puts high constraints on the robot perception system, which is critical for the safety of the system as a whole. To achieve
the required safety levels the perception system needs to be certified, but no specific standards exist for computer vision systems, and
the concept of safe vision systems remains largely unexplored. In this paper we present a novel domain-specific language that allows
the programmer to express image quality detection rules for enforcing safety constraints. The language allows developers to increase
trustworthiness in the robot perception system, which we argue would increase compliance with safety standards. We demonstrate
the usage of the language to improve reliability in a perception pipeline and evaluate it against manually written rules on embedded
hardware. The language allows the vision expert to concisely express the safety-related constraints and thereby bridging the gap
between domain experts and certification authorities.