NDLI: A Gesture Based Interface for Human-Robot Interaction

Content Provider	Springer Nature Link
Author	Waldherr, Stefan Romero, Roseli Thrun, Sebastian
Copyright Year	2000
Abstract	Service robotics is currently a highly active research area in robotics, with enormous societal potential. Since service robots directly interact with people, finding “natural” and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are equipped with flexible user interfaces that permit controlling the robot by “natural” means. This paper describes a gesture interface for the control of a mobile robot equipped with a manipulator. The interface uses a camera to track a person and recognize gestures involving arm motion. A fast, adaptive tracking algorithm enables the robot to track and follow a person reliably through office environments with changing lighting conditions. Two alternative methods for gesture recognition are compared: a template based approach and a neural network approach. Both are combined with the Viterbi algorithm for the recognition of gestures defined through arm motion (in addition to static arm poses). 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 instructs the robot to pick up trash.
Starting Page	151
Ending Page	173
Page Count	23
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	9
Issue Number	2
e-ISSN	15737527
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2000-01-01
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Artificial Intelligence (incl. Robotics) Computer Imaging, Graphics and Computer Vision Mechanical Engineering Automation and Robotics Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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