Human / robot visual interaction for a tour-guide robot

This paper deals with visual recognition and tracking of people and gestures from a camera mounted on a tour-guide robot in a human, cluttered, environment. The particle filtering framework enables the fusion of visual cues, both into an importance function from which the particles are sampled, and...

Full description

Saved in:
Bibliographic Details
Main Authors: Germa, T., Lerasle, F., Danes, P., Brethes, L.
Format: Conference Proceeding
Language:English
Subjects:
Area measurement
Filtering
Human robot interaction
Intelligent robots
Particle measurements
Robot vision systems
Robustness
Software safety
USA Councils
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper deals with visual recognition and tracking of people and gestures from a camera mounted on a tour-guide robot in a human, cluttered, environment. The particle filtering framework enables the fusion of visual cues, both into an importance function from which the particles are sampled, and into a measurement model used for weights definition. The multi-cues associations prove to be more robust than any of the cues individually. For the purpose of gestures recognition, a tracker is proposed which handles multiple hand configurations templates. Finally, implementation and experiments on a tour-guide robot are presented in order to highlight the relevance and complementarity of the developed visual functions. Extensions are finally discussed.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2007.4399214