DocumentCode :
774758
Title :
Gesture Spotting and Recognition for Human–Robot Interaction
Author :
Yang, Hee-Deok ; Park, A-Yeon ; Lee, Seong-Whan
Author_Institution :
Dept. of Comput. Sci. & Eng., Korea Univ., Seoul
Volume :
23
Issue :
2
fYear :
2007
fDate :
4/1/2007 12:00:00 AM
Firstpage :
256
Lastpage :
270
Abstract :
Visual interpretation of gestures can be useful in accomplishing natural human-robot interaction (HRI). Previous HRI research focused on issues such as hand gestures, sign language, and command gesture recognition. Automatic recognition of whole-body gestures is required in order for HRI to operate naturally. This presents a challenging problem, because describing and modeling meaningful gesture patterns from whole-body gestures is a complex task. This paper presents a new method for recognition of whole-body key gestures in HRI. A human subject is first described by a set of features, encoding the angular relationship between a dozen body parts in 3-D. A feature vector is then mapped to a codeword of hidden Markov models. In order to spot key gestures accurately, a sophisticated method of designing a transition gesture model is proposed. To reduce the states of the transition gesture model, model reduction which merges similar states based on data-dependent statistics and relative entropy is used. The experimental results demonstrate that the proposed method can be efficient and effective in HRI, for automatic recognition of whole-body key gestures from motion sequences
Keywords :
gesture recognition; hidden Markov models; man-machine systems; robot vision; vectors; 3D feature encoding; feature vector mapping; gesture spotting; hidden Markov models; human-robot interaction; model reduction; motion sequences; transition gesture models; whole-body key gesture recognition; Biological system modeling; Computer science; Handicapped aids; Hidden Markov models; Humans; Intelligent robots; Manufacturing industries; Motion analysis; Robotics and automation; Service robots; Gesture spotting; hidden Markov model (HMM); human–robot interaction (HRI); mobile robot; transition gesture model; whole-body gesture recognition;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2006.889491
Filename :
4154835
Link To Document :
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