A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot

International Journal of Advanced Robotic Systems

关键词: Human-Robot Interaction;    Man-Machine-Interfaces;    Gesture Recognition;    Robotics;   

DOI  :  10.5772/5700

学科分类：自动化工程

来源: InTech

【 摘 要 】

We present an important aspect of our human-robot communication interface which is being developed in the context of our long-term research framework PERSES dealing with highly interactive mobile companion robots. Based on a multi-modal people detection and tracking system, we present a hierarchical neural architecture that estimates a target point at the floor indicated by a pointing pose, thus enabling a user to navigate a mobile robot to a specific target position in his local surroundings by means of pointing. In this context, we were especially interested in determining whether it is possible to accomplish such a target point estimator using only monocular images of low-cost cameras. The estimator has been implemented and experimentally investigated on our mobile robotic assistant HOROS. Although only monocular image data of relatively poor quality were utilized, the estimator accomplishes a good estimation performance, achieving an accuracy better than that of a human viewer on the same data. The ac...

【 授权许可】

CC BY