Template-Based Recognition of Pose and Motion Gestures On a Mobile Robot
Template-Based Recognition of Pose and Motion Gestures On a Mobile Robot
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基于模板的移动机器人姿势和运动手势识别
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
D. Margaritis
中科院分区：
文献类型：
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作者：
S. Waldherr;S. Thrun;Roseli Romero;D. Margaritis
为了使移动机器人在日常生活中为人们提供帮助，必须易于指导。本文介绍了针对人类机器人互动的基于手势的界面，该界面使人们能够通过易于执行的手臂手势指导机器人。这样的手势可能是静态姿势手势，它仅涉及对人的手臂的特定配置，或者它们可能是动态运动手势（例如挥舞）。使用集成神经网络和模板匹配的混合方法，以近似帧速率实时识别手势。一种基于颜色的快速跟踪算法使机器人能够通过具有巨大变化的照明条件的办公室环境可靠地跟踪和跟随人。结果是在交互式清理任务的背景下报告的，其中一个人将机器人引导到需要清洁的特定位置，并且机器人捡起垃圾，然后将其输送到最近的垃圾桶。
For mobile robots to assist people in everyday life, they must be easy to instruct. This paper describes a gesture-based interface for human robot interaction, which enables people to instruct robots through easy-to-perform arm gestures. Such gestures might be static pose gestures, which involve only a specific configuration of the person's arm, or they might be dynamic motion gestures (such as waving). Gestures are recognized in real-time at approximate frame rate, using a hybrid approach that integrates neural networks and template matching. A fast, color-based tracking algorithm enables the robot to track and follow a person reliably through office environments with drastically changing lighting conditions. Results are reported in the context of an interactive clean-up task, where a person guides the robot to specific locations that need to be cleaned, and the robot picks up trash which it then delivers to the nearest trash-bin.