Integration of a low-cost RGB-D sensor in a social robot for gesture recognition

An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need...

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Veröffentlicht in:2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI) S. 229 - 230
Hauptverfasser: Ramey, A., Gonzalez-Pacheco, V., Salichs, M. A.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.03.2011
Schlagworte:
Finite State Machine (FSM)
Gesture recognition
Humans
Real time systems
RGB-D Sensor
Robot sensing systems
Skeleton
Solid modeling
ISBN:1467343935, 9781467343930
ISSN:2167-2121
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Zusammenfassung:An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need robust gesture recognition systems to detect the non-verbal information that is sent to them by the human gestures. Traditional gesture recognition systems highly depend on the light conditions and often require a training process before they can be used. We have integrated a low-cost commercial RGB-D (Red Green Blue - Depth) sensor in a social robot to allow it to recognise dynamic gestures by tracking a skeleton model of the subject and coding the temporal signature of the gestures in a FSM (Finite State Machine). The vision system is independent of low light conditions and does not require a training process.
ISBN:1467343935
9781467343930
ISSN:2167-2121
DOI:10.1145/1957656.1957745