toggle visibility Search & Display Options

Select All    Deselect All
 |   | 
  Record Links
Author (up) Gerard Canal; Sergio Escalera; Cecilio Angulo edit   pdf
doi  openurl
  Title A Real-time Human-Robot Interaction system based on gestures for assistive scenarios Type Journal Article
  Year 2016 Publication Computer Vision and Image Understanding Abbreviated Journal CVIU  
  Volume 149 Issue Pages 65-77  
  Keywords Gesture recognition; Human Robot Interaction; Dynamic Time Warping; Pointing location estimation  
  Abstract Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times.  
  Corporate Author Thesis  
  Publisher Elsevier B.V. Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes HuPBA;MILAB; Approved no  
  Call Number Admin @ si @ CEA2016 Serial 2768  
Permanent link to this record
Select All    Deselect All
 |   | 

Save Citations:
Export Records: