A natural gesture interface for operating robotic systems

Anqi Xu, Gregory Dudek, Junaed Sattar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3557-3563
Number of pages7
DOIs
StatePublished - Sep 18 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

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