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: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2007-03-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5700 |
| _version_ | 1818841928926494720 |
|---|---|
| author | Jan Richarz Andrea Scheidig Christian Martin Steffen Müller Horst-Michael Gross |
| author_facet | Jan Richarz Andrea Scheidig Christian Martin Steffen Müller Horst-Michael Gross |
| author_sort | Jan Richarz |
| 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 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 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 | 2024-12-19T04:33:53Z |
| format | Article |
| id | doaj.art-ae39233b459a4c658a0e259314361bd4 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-19T04:33:53Z |
| publishDate | 2007-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-ae39233b459a4c658a0e259314361bd42022-12-21T20:35:49ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142007-03-01410.5772/570010.5772_5700A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile RobotJan Richarz0Andrea Scheidig1Christian Martin2Steffen Müller3Horst-Michael Gross4Department of Neuroinformatics and Cognitive Robotics, Ilmenau Technical University, GermanyDepartment of Neuroinformatics and Cognitive Robotics, Ilmenau Technical University, GermanyDepartment of Neuroinformatics and Cognitive Robotics, Ilmenau Technical University, GermanyDepartment of Neuroinformatics and Cognitive Robotics, Ilmenau Technical University, GermanyDepartment of Neuroinformatics and Cognitive Robotics, Ilmenau Technical University, GermanyWe 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 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.https://doi.org/10.5772/5700 |
| spellingShingle | Jan Richarz Andrea Scheidig Christian Martin Steffen Müller Horst-Michael Gross 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 | https://doi.org/10.5772/5700 |
| work_keys_str_mv | AT janricharz amonocularpointingposeestimatorforgesturalinstructionofamobilerobot AT andreascheidig amonocularpointingposeestimatorforgesturalinstructionofamobilerobot AT christianmartin amonocularpointingposeestimatorforgesturalinstructionofamobilerobot AT steffenmuller amonocularpointingposeestimatorforgesturalinstructionofamobilerobot AT horstmichaelgross amonocularpointingposeestimatorforgesturalinstructionofamobilerobot AT janricharz monocularpointingposeestimatorforgesturalinstructionofamobilerobot AT andreascheidig monocularpointingposeestimatorforgesturalinstructionofamobilerobot AT christianmartin monocularpointingposeestimatorforgesturalinstructionofamobilerobot AT steffenmuller monocularpointingposeestimatorforgesturalinstructionofamobilerobot AT horstmichaelgross monocularpointingposeestimatorforgesturalinstructionofamobilerobot |