On Pose Estimation for Human-Robot Symbiosis
This paper presents a vision based pose estimation system using knowledge based approach for humanrobot symbiosis. The system is based on visual information of the face by connected component analysis of the skin color segmentation of images in HSV color model and is commenced with the face recognit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/on_pose_estimation_for_human-robot_symbiosis |
| _version_ | 1818832325525372928 |
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| author | Chang Hong Liu Al-Amin Bhuiyan Haruki Ueno |
| author_facet | Chang Hong Liu Al-Amin Bhuiyan Haruki Ueno |
| author_sort | Chang Hong Liu |
| collection | DOAJ |
| description | This paper presents a vision based pose estimation system using knowledge based approach for humanrobot symbiosis. The system is based on visual information of the face by connected component analysis of the skin color segmentation of images in HSV color model and is commenced with the face recognition and pose classification scheme using subspace PCA based pattern-matching strategies. With the knowledge of the known user's profile, face poses are then classified by multilayer perceptron. Based on the frame-based knowledge representation approach, face poses are being interpreted using the Software Platform for Agent and Knowledge (SPAK) management. On face pose recognition, robot is then instructed to perform some specific tasks by issuing pose commands. Experimental results demonstrate that the subspace method is better than that of the standard PCA method for face pose classification. The system has been demonstrated with the implementation of the algorithm to interact with an entertainment robot named, AIBO for human-robot symbiotic relationship. |
| first_indexed | 2024-12-19T02:01:14Z |
| format | Article |
| id | doaj.art-6e04c580852b42b8827f883427920ef7 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-19T02:01:14Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-6e04c580852b42b8827f883427920ef72022-12-21T20:41:03ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0151On Pose Estimation for Human-Robot SymbiosisChang Hong LiuAl-Amin BhuiyanHaruki UenoThis paper presents a vision based pose estimation system using knowledge based approach for humanrobot symbiosis. The system is based on visual information of the face by connected component analysis of the skin color segmentation of images in HSV color model and is commenced with the face recognition and pose classification scheme using subspace PCA based pattern-matching strategies. With the knowledge of the known user's profile, face poses are then classified by multilayer perceptron. Based on the frame-based knowledge representation approach, face poses are being interpreted using the Software Platform for Agent and Knowledge (SPAK) management. On face pose recognition, robot is then instructed to perform some specific tasks by issuing pose commands. Experimental results demonstrate that the subspace method is better than that of the standard PCA method for face pose classification. The system has been demonstrated with the implementation of the algorithm to interact with an entertainment robot named, AIBO for human-robot symbiotic relationship.http://www.intechopen.com/articles/show/title/on_pose_estimation_for_human-robot_symbiosisAIBOFace recognitionHuman-robot symbiosisPCAHSV color model |
| spellingShingle | Chang Hong Liu Al-Amin Bhuiyan Haruki Ueno On Pose Estimation for Human-Robot Symbiosis International Journal of Advanced Robotic Systems AIBO Face recognition Human-robot symbiosis PCA HSV color model |
| title | On Pose Estimation for Human-Robot Symbiosis |
| title_full | On Pose Estimation for Human-Robot Symbiosis |
| title_fullStr | On Pose Estimation for Human-Robot Symbiosis |
| title_full_unstemmed | On Pose Estimation for Human-Robot Symbiosis |
| title_short | On Pose Estimation for Human-Robot Symbiosis |
| title_sort | on pose estimation for human robot symbiosis |
| topic | AIBO Face recognition Human-robot symbiosis PCA HSV color model |
| url | http://www.intechopen.com/articles/show/title/on_pose_estimation_for_human-robot_symbiosis |
| work_keys_str_mv | AT changhongliu onposeestimationforhumanrobotsymbiosis AT alaminbhuiyan onposeestimationforhumanrobotsymbiosis AT harukiueno onposeestimationforhumanrobotsymbiosis |