Context-based interaction using pointing movements recognition for an intelligent home service robot

This paper presents human-robot interaction using pointing movements for a home robot. Pointing movement is an important communication tool in interpersonal communication. However, pointing has different means depending on a situation. We research that recognizes users´ intentions by using their pointing in particular situations. Our aim is not to calculate accurately the point indicated by a user. The system recognizes objects or the pointing direction, and decides its own action by automatically considering context. To find an object or indicated point interactively, we constructed a virtual room, which was built based on an actual room. The virtual room has information of object property, such as location and moveable or not. A service robot decides its own action using the information from the virtual room. This paper shows experiments a support, moving or pick-up an object.