人机界面的指向角估计

N. S. M. Nor, Y. Maeda, M. Mizukawa
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引用次数: 3

摘要

本文提出了一种在三维空间中跟踪和估计用户指向方向的方法。在人机交互领域,用户在日常生活活动中与服务机器人进行通信,发出命令并执行给定的任务。因此,用户对服务机器人的自然指令能力可以为真实的三维空间环境提供一个交互式的用户界面系统。为此,我们的目标是执行指向手势跟踪,然后估计用户的指向方向。我们的指向估计方法是基于手的三维方向和用户的肩膀中心。我们与之前的方法进行了比较,以找到最佳假设。实验结果表明,该方法有效地改善了指向估计的角度误差。因此,我们的自然用户界面系统可以在客厅环境中操作三维物体,从而为人机交互提供直观的机器人服务。人体手势的跟踪无论是在人机交互还是人机交互中都得到了广泛的研究。除了语音之外,手势是人类与机器人之间直观、自然交互的一个平台。手势是人类向服务机器人传递信息和意图的手势之一。基于点控的用户界面可以方便地为机器人在家庭环境中完成任务指示对象和位置。然而,在实际环境中,会出现一些模糊现象,影响机器人服务的性能。指向手势中的歧义主要来自于对用户指向方向估计的角度误差,特别是当物体距离较近时。由于指示指令不明确,无法识别正确的目标和位置,服务机器人必然无法顺利完成任务。为了克服这一问题,我们对指向臂的跟踪进行了多次实验,并进行了比较研究,以寻找最佳假设。在本文中,我们提出了一种用于指向估计的鲁棒跟踪方法。我们从手相对于肩膀中心的位置测量指向角。获取指向臂的三维坐标
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Pointing Angle Estimation for Human-Robot Interface
In this paper, we propose an approach to track and estimate user pointing direction in 3D Space. In the area of human-robot interaction, user communicates with service robot in their daily life activities to give commands and execute the given task accordingly. Therefore, the ability of user to gives command to service robot naturally can provide an interactive user interface system for real 3D space environment. For this purpose, we aim to perform pointing gesture tracking and after that estimate the user's pointing direction. Our method of pointing direction estimation is based on 3D orientation of hand and shoulder center of user. We make comparison with our previous method to find the best hypothesis. Experimental results show the angular error for the estimation of pointing direction is successfully improved from our previous method. As a result, our natural user interface system can manipulate 3D objects in living room environment thus providing intuitive robotic service for human robot interaction. I. INTRODUCTION Tracking of human gesture has been widely researched either in human-computer interaction or human-robot interaction. Besides voice, gesture is an example of platform to interfacing between human and robot intuitively and naturally. Pointing is one part of gesture which provides information and intention from human to service robot. Pointing-based user interface can easily indicate object and location for the robot delivering robot task in home environment. However, in the real environment, some ambiguity can occur and affect the performance of robotics service. The ambiguity in pointing gesture comes from the angular error in estimation of user's pointing direction particularly when certain objects is closely located. Due to the ambiguous pointing command, correct object and location cannot be identified thus service robot surely unable to deliver task successfully. To overcome this problem, we conduct several experiments on tracking of pointing arm and make comparison study to find the best hypothesis. In this paper, we present a robust tracking method to be used in pointing direction estimation. We measure the pointing angle from the position of hand with respect to the shoulder center. To obtain the 3D coordinates of pointing arm
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