Human-robot interface using uncalibrated stereo vision

This paper presents a human-robot interface system that enables a user to move a robot by moving his hand. The system adopts uncalibrated stereo vision based on the affine invariants from multiple views. The system can interpret hand gestures both in the user-centered frame and in the world-fixed frame. Suppose the user wants to indicate the direction of a mobile robot motion by the direction of his hand. If he moves his hand forward, the robot moves straight ahead regardless of his body position, that is, regardless of the hand direction in the world by the former interpretation. By the latter interpretation, however, the robot turns towards the direction indicated by the hand. The former is useful when we operate a teleoperation robot while watching the images sent from the robot. Operation experiments show the usefulness of the system.

Authors

• Yoshinori Kuno
• Kentaro Hayashi
• Kang-Hyun Jo
• Yoshiaki Shirai

Keywords

• Stereo vision
• Cameras
• Humans
• Calibration
• Robot vision systems
• Mobile robots
• Mechanical engineering
• Computer interfaces
• Machinery
• Robot motion
• Stereopsis
• Human-robot Interface
• Use Of Systems
• Hand Gestures
• Image Processing
• Field Of View
• Visual System
• Index Finger
• Upper Body
• Position Information
• Visual Feedback
• Camera System
• 3D Position
• 3D Information
• Image Position
• User Location
• Objects In The Scene
• Interface System
• Camera Calibration
• Camera Field Of View