International Journal of Advanced Robotic Systems | |
A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot | |
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
【 预 览 】
Files | Size | Format | View |
---|---|---|---|
RO201902180141405ZK.pdf | 507KB | download |