Real-time visual system for interaction with a humanoid robot

We describe a real-time visual system that enables a humanoid robot to learn from and interact with humans. The core of the visual system is a probabilistic tracker that uses shape and color information to find relevant objects in the scene. Multiscale representations, windowing and masking are employed to accelerate the data processing. The perception system is directly coupled with the motor control system of our humanoid robot DB. We present an example of on-line interaction with a humanoid robot: mimicking of human hand motion. The generation of humanoid robot motion based on the human motion is accomplished in real-time. The study is supported by experimental results on DB.

Authors

• Ales Ude
• Christopher G. Atkeson

Keywords

• Real time systems
• Visual system
• Humanoid robots
• Humans
• Shape
• Layout
• Acceleration
• Data processing
• Couplings
• Motor drives
• Real-Time System
• Humanoid Robot
• Human Motion
• Objects In The Scene
• Hand Motion
• Cross-correlation
• Mixture Model
• Color Images
• Estimation Problem
• Image Frames
• Object Position
• Position Estimation
• Hand Position
• Motion Tracking
• Maximum Step
• Shape Estimation
• Seconds Of Data
• Probabilistic Mixture
• Wide-angle Camera
• HSV Color