A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | http://www.intechopen.com/articles/show/title/a_monocular_pointing_pose_estimator_for_gestural_instruction_of_a_mobile_robot |
| _version_ | 1818833584357638144 |
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| author | Andrea Scheidig Christian Martin Steffen Mueler Horst-Michael Gross Jan Richarz |
| author_facet | Andrea Scheidig Christian Martin Steffen Mueler Horst-Michael Gross Jan Richarz |
| author_sort | Andrea Scheidig |
| collection | DOAJ |
| description | 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 architec- ture that estimates a target point at the floor indicated by a pointing pose, thus enabling a user to navigate a mo- bile 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 util- ized, the estimator accomplishes a good estimation performance, achieving an accuracy better than that of a hu- man viewer on the same data. The achieved recognition results demonstrate that it is in fact possible to realize a user-independent pointing direction estimation using monocular images only, but further efforts are necessary to improve the robustness of this approach for everyday application. |
| first_indexed | 2024-12-19T02:21:15Z |
| format | Article |
| id | doaj.art-9b2fe4cf92bd42d8a87da385ea4dc1c4 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-19T02:21:15Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9b2fe4cf92bd42d8a87da385ea4dc1c42022-12-21T20:40:11ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0141A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile RobotAndrea ScheidigChristian MartinSteffen MuelerHorst-Michael GrossJan RicharzWe 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 architec- ture that estimates a target point at the floor indicated by a pointing pose, thus enabling a user to navigate a mo- bile 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 util- ized, the estimator accomplishes a good estimation performance, achieving an accuracy better than that of a hu- man viewer on the same data. The achieved recognition results demonstrate that it is in fact possible to realize a user-independent pointing direction estimation using monocular images only, but further efforts are necessary to improve the robustness of this approach for everyday application.http://www.intechopen.com/articles/show/title/a_monocular_pointing_pose_estimator_for_gestural_instruction_of_a_mobile_robot |
| spellingShingle | Andrea Scheidig Christian Martin Steffen Mueler Horst-Michael Gross Jan Richarz A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot International Journal of Advanced Robotic Systems |
| title | A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot |
| title_full | A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot |
| title_fullStr | A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot |
| title_full_unstemmed | A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot |
| title_short | A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot |
| title_sort | monocular pointing pose estimator for gestural instruction of a mobile robot |
| url | http://www.intechopen.com/articles/show/title/a_monocular_pointing_pose_estimator_for_gestural_instruction_of_a_mobile_robot |
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