Segmentation of Pointed Objects for Service Robots

Title
Segmentation of Pointed Objects for Service Robots
Authors
김형오김수환김동환박성기
Keywords
map; gesture; segmentation; object learning; Arm-pointing Gestures; Object Segmentation; Object Recognition; Stereo vision
Issue Date
2009-04
Publisher
로봇공학회논문지
Citation
VOL 4, NO 2, 139-146
Abstract
This paper describes how a person extracts a unknown object with pointing gesture while interacting with a robot. Using a stereo vision sensor, our proposed method consists of two stages: the detection of the operators' face, the estimation of the pointing direction, and the extraction of the pointed object. The operator's face is recognized by using the Haar-like features. And then we estimate the 3D pointing direction from the shoulder-to-hand line. Finally, we segment an unknown object from 3D point clouds in estimated region of interest. On the basis of this proposed method, we implemented an object registration system with our mobile robot and obtained reliable experimental results.
URI
http://pubs.kist.re.kr/handle/201004/36424
ISSN
19756291
Appears in Collections:
KIST Publication > Article
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