A Research of Humanoid Vision System Improving Human-Robot Communication

在本研究中，我们提出了“类人视觉”。Nodaway，人形机器人的外观和特征正变得与人类相似。在此基础上，我们认为“人形机器人必须具有人形功能”，而人形机器人的眼睛必须是“人形视觉”。仿人视觉是一种聚焦于人类行为的机器人，并对人类进行仿真的视觉系统。为了实现这一研究目标，我们使用了具有两个摄像头眼睛的仿人机器人Yamato。第一年，我们利用距离测量、人的检测和手势识别的方法构建了一个仿真系统。我们开发了他们的算法，并将其引入我们的机器人。我们的方法识别站在机器人前面的人的手势，机器人可以跟随这个动作。第二年，我们研究了人机交互界面。机器人必须采取更真实的人类行动，才能在人与机器人的交流中感受到人性。因此，在第一步中，我们研究了人类用眼睛跟踪对象的行为，并将动作建模为机器人的动作。通过使用该模型，我们的机器人可以跟踪与人类相似的对象，我们认为人类对人类的框架进行了优化，因此类人视觉是最适合于具有人类特征的仿人机器人的视觉系统。

In this research, we proposed "Humanoid Vision". Nodaway, humanoid robot's exterior and features are becoming as similar as human. Then we consider that "the humanoid robot has to have humanoid functions", and eyes for humanoid robot have to be "Humanoid Vision". Humanoid vision is the vision system which is focused on human actions of the robot, and emulation of human beings. We used a humanoid robot "YAMATO" which has two camera eyes to achieve this research goal.The first year, we constructed an emulation system by using distance measuring, detection of the person and gesture recognition method. We developed their algorithms and introduced on our robot. Our method recognizes gestures of persons standing in front of the robot, and the robot can follow that actions.The second year, we researched about user friendly interface between human and robot. Robot has to act more real human actions to feel the humanity in human and robot communication. Therefore, in the first step, we studied the human action of tracking an object by the eyes, and that actions are modeled to the robot actions. By using this model, our robot can track an object as similar as human beings.We think that the human being is optimized for human frameworks, thus the humanoid vision is the best vision system for humanoid robot which has human like.