TY - GEN
T1 - Real-time 3D hand gesture interaction with a robot for understanding directions from humans
AU - Van Den Bergh, Michael
AU - Carton, Daniel
AU - De Nijs, Roderick
AU - Mitsou, Nikos
AU - Landsiedel, Christian
AU - Kuehnlenz, Kolja
AU - Wollherr, Dirk
AU - Van Gool, Luc
AU - Buss, Martin
PY - 2011
Y1 - 2011
N2 - This paper implements a real-time hand gesture recognition algorithm based on the inexpensive Kinect sensor. The use of a depth sensor allows for complex 3D gestures where the system is robust to disturbing objects or persons in the background. A Haarlet-based hand gesture recognition system is implemented to detect hand gestures in any orientation, and more in particular pointing gestures while extracting the 3D pointing direction. The system is integrated on an interactive robot (based on ROS), allowing for real-time hand gesture interaction with the robot. Pointing gestures are translated into goals for the robot, telling him where to go. A demo scenario is presented where the robot looks for persons to interact with, asks for directions, and then detects a 3D pointing direction. The robot then explores his vicinity in the given direction and looks for a new person to interact with.
AB - This paper implements a real-time hand gesture recognition algorithm based on the inexpensive Kinect sensor. The use of a depth sensor allows for complex 3D gestures where the system is robust to disturbing objects or persons in the background. A Haarlet-based hand gesture recognition system is implemented to detect hand gestures in any orientation, and more in particular pointing gestures while extracting the 3D pointing direction. The system is integrated on an interactive robot (based on ROS), allowing for real-time hand gesture interaction with the robot. Pointing gestures are translated into goals for the robot, telling him where to go. A demo scenario is presented where the robot looks for persons to interact with, asks for directions, and then detects a 3D pointing direction. The robot then explores his vicinity in the given direction and looks for a new person to interact with.
UR - http://www.scopus.com/inward/record.url?scp=80053044858&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2011.6005195
DO - 10.1109/ROMAN.2011.6005195
M3 - Conference contribution
AN - SCOPUS:80053044858
SN - 9781457715716
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 357
EP - 362
BT - 2011 RO-MAN - 20th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
T2 - 20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011
Y2 - 31 July 2011 through 3 August 2011
ER -