TY - GEN
T1 - A natural gesture interface for operating robotic systems
AU - Xu, Anqi
AU - Dudek, Gregory
AU - Sattar, Junaed
PY - 2008
Y1 - 2008
N2 - A gesture-based interaction framework is presented for controlling mobile robots. This natural interaction paradigm has few physical requirements, and thus can be deployed in many restrictive and challenging environments. We present an implementation of this scheme in the control of an underwater robot by an on-site human operator. The operator performs discrete gestures using engineered visual targets, which are interpreted by the robot as parametrized actionable commands. By combining the symbolic alphabets resulting from several visual cues, a large vocabulary of statements can be produced. An Iterative Closest Point algorithm is used to detect these observed motions, by comparing them with an established database of gestures. Finally, we present quantitative data collected from human participants indicating accuracy and performance of our proposed scheme.
AB - A gesture-based interaction framework is presented for controlling mobile robots. This natural interaction paradigm has few physical requirements, and thus can be deployed in many restrictive and challenging environments. We present an implementation of this scheme in the control of an underwater robot by an on-site human operator. The operator performs discrete gestures using engineered visual targets, which are interpreted by the robot as parametrized actionable commands. By combining the symbolic alphabets resulting from several visual cues, a large vocabulary of statements can be produced. An Iterative Closest Point algorithm is used to detect these observed motions, by comparing them with an established database of gestures. Finally, we present quantitative data collected from human participants indicating accuracy and performance of our proposed scheme.
UR - http://www.scopus.com/inward/record.url?scp=51649090715&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649090715&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543755
DO - 10.1109/ROBOT.2008.4543755
M3 - Conference contribution
AN - SCOPUS:51649090715
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3557
EP - 3563
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -