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Integration of a low-cost RGB-D sensor in a social robot for gesture recognition

Integration of a low-cost RGB-D sensor in a social robot for gesture recognition Integration of a Low-Cost RGB-D Sensor in a Social Robot for Gesture Recognition RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain Arnaud Ramey Victor Gonzalez-Pacheco RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain Miguel A. Salichs [email protected] ABSTRACT [email protected] [email protected] An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need robust gesture recognition systems to detect the non-verbal information that is sent to them by the human gestures. Traditional gesture recognition systems highly depend on the light conditions and often require a training process before they can be used. We have integrated a low-cost commercial RGB-D (Red Green Blue Depth) sensor in a social robot to allow it to recognise dynamic gestures by tracking a skeleton model of the subject and coding the temporal signature of the gestures in a FSM (Finite State Machine). The vision system is independent of low light conditions and does not require a training http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

Integration of a low-cost RGB-D sensor in a social robot for gesture recognition

Ramey, Arnaud; González-Pacheco, Víctor; Salichs, Miguel A.
Association for Computing Machinery — Mar 6, 2011
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Datasource
Association for Computing Machinery
Copyright
Copyright © 2011 by ACM Inc.
ISBN
978-1-4503-0561-7
doi
10.1145/1957656.1957745
Publisher site
See Article on Publisher Site

Abstract

Integration of a Low-Cost RGB-D Sensor in a Social Robot for Gesture Recognition RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain Arnaud Ramey Victor Gonzalez-Pacheco RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain RoboticsLab, Univ. Carlos III of Madrid Legan s, Spain Miguel A. Salichs [email protected] ABSTRACT [email protected] [email protected] An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need robust gesture recognition systems to detect the non-verbal information that is sent to them by the human gestures. Traditional gesture recognition systems highly depend on the light conditions and often require a training process before they can be used. We have integrated a low-cost commercial RGB-D (Red Green Blue Depth) sensor in a social robot to allow it to recognise dynamic gestures by tracking a skeleton model of the subject and coding the temporal signature of the gestures in a FSM (Finite State Machine). The vision system is independent of low light conditions and does not require a training

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