Robotics Research on Human Intention

如今，机器人的应用正在扩展到服务、家政、家庭护理任务。有必要让这样的机器人与人类安全共存。而人与人之间的友好交流是开发这类机器人系统的重要线索之一。在这个项目中，我们重点研究了基于视觉信息的人脸和手势识别。实际上，我们完成了以下六个研究项目：(1)基于HMM和自动机的实时基于上下文的手势识别(1)基于HMM和自动机的实时上下文手势识别(2)基于子空间方法和HMM的图像运动姿态识别(2)基于结构和运动模型的姿态估计(3)人的跟踪和注意力控制通过全方位传感器机器人和双目视觉机器人的协作来发现和跟踪人(4)人脸识别综合身份和表情信息以实现稳健的面部表情识别(5)基于全方位图像传感器的人-机器人协作自主引导机器人系统(6)超视觉开发一种微型全方位人类机器人

Nowadays, robot applications are being extended to service, house keeping, home-care tasks. There is a necessity to have the safe coexistence of such robots and human-beings. And, human friendly communication is one of important cue for developing such robot system. In this project, we focused on face and gesture recognition from visual information. Actually, we have done following six research projects.(1) Human Gesture RecognitionReal-time context-based gesture recognition using HMM and automatonGesture recognition from image motion based on subspace method and HMM(2) Posture EstimationPosture estimation using structure and motion models(3) Human Tracking and Attention ControlFinding and tracking a person by cooperation between an omnidirectional sensor robot and binocular vision robot(4) Face RecognitionIntegrating person identity and expression information for robust facial expression recognitionRecognizing degree of continuous facial expression change(5) Human-Robot CooperationAutonomous guidance robot system with omnidirectional image sensor(6) HyperOmni VisionDevelopment of a tiny omnidirectional image sensorDevelopment of human friendly robot YYOU