Tracking and detection of pointing gesture in 3D space

Author

Nor, Nur Safwati Mohd ; Ngo Lam Trung ; Maeda, Yuji ; Mizukawa, Makoto

Author_Institution

Grad. Sch. of Eng., Shibaura Inst. of Technol., Tokyo, Japan

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

234

Lastpage

235

Abstract

In this paper, we discuss pointing gesture estimation in the context of Human Robot Interaction (HRI). Pointing gesture provides and utilizes information in Kukanchi (Interactive Human Space Design and Intelligence) more natural than other conservative method like keyboard or mouse. Therefore, we design a user interface adopting pointing gesture to manipulate objects and robot naturally in 3D space. Initially, human posture is tracked. Later, the information is used to detect the dynamic pointing gesture using our proposed method which is Hidden Markov Model (HMM). Preliminary experiment shows the average angular error of pointing direction is less than seven degrees.

Keywords

gesture recognition; hidden Markov models; human-robot interaction; interactive systems; object tracking; robot vision; 3D space; HMM; HRI; Interactive Human Space Design and Intelligence; Kukanchi; dynamic pointing gesture detection; hidden Markov model; human posture tracking; human robot interaction; object manipulation; pointing direction angular error; pointing gesture estimation; pointing gesture tracking; robot manipulation; user interface design; Aerospace electronics; Estimation; Hidden Markov models; Human-robot interaction; Humans; Robots; Hidden Markov Model (HMM); Natural user interface; Pointing gesture;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6462983

Filename

6462983