Abstract: Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.

Abstract: Technologies are generally described for detection and tracking of item features. In some examples, features of an object may be initially found through detection of one or more edges and one or more corners of the object from a first perspective. In addition, determination may be made whether the detected edges and corners of the object are also detectable from one or more other perspectives. In response to an affirmative determination, the detected edges and of the object may be marked as features to be tracked, for example, in subsequent frames of a camera feed. The perspectives may correspond to distributed locations in a substantially umbrella-shaped formation centered over the object. In other examples, lighting conditions of an environment where the object is being tracked may be programmatically controlled.