Universal Gestures for Human Robot Interaction (GESTIBOT) - Revision history

Plinio at 19:07, 27 April 2009

2009-04-27T19:07:39Z

← Older revision		Revision as of 19:07, 27 April 2009
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	To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).		To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).

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	=== Description ===		=== Description ===

Plinio at 19:06, 27 April 2009

2009-04-27T19:06:51Z

← Older revision		Revision as of 19:06, 27 April 2009
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	To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).		To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).

	<object width="~~425~~" height="~~344~~"><param name="movie" value="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="~~425~~" height="~~344~~"></embed></object>		<object width="445" height="364"><param name="movie" value="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1&border=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1&border=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="445" height="364"></embed></object>

	=== Description ===		=== Description ===

Plinio at 19:05, 27 April 2009

2009-04-27T19:05:36Z

← Older revision		Revision as of 19:05, 27 April 2009
Line 14:		Line 14:
	To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).		To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).

	http://www.youtube.com/~~watch?~~v=9LKMJcaHYgc		<object width="425" height="344"><param name="movie" value="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/9LKMJcaHYgc&hl=en&fs=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="425" height="344"></embed></object>

	=== Description ===		=== Description ===

Plinio at 19:05, 27 April 2009

2009-04-27T19:05:08Z

← Older revision		Revision as of 19:05, 27 April 2009
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	To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).		To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).

			http://www.youtube.com/watch?v=9LKMJcaHYgc

	=== Description ===		=== Description ===

Alex at 14:15, 27 April 2009

2009-04-27T14:15:11Z

← Older revision		Revision as of 14:15, 27 April 2009
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	~~Work~~ framed by the ~~Humanoids~~ Robotics Research ~~Area~~ of the ~~ISR~~ Computer and Robot Vision Lab (Vislab).		This work is framed in the Humanoid Robotics Research area of the Computer and Robot Vision Lab (Vislab), ISR/IST.

	Keywords: Computer Vision, Human Robot Interaction.		Keywords: Computer Vision, Human Robot Interaction, Gesture Recognition, Shared Attention.

	=== Objectives ===		=== Objectives ===

	~~Exploit the knowledge about human attention studies to derive efficient~~ pattern ~~search mechanisms in object detection tasks. Application of the~~ methods ~~to a humanoid robot in order to interact with objects~~ of ~~interest in the scene~~ with ~~improves reaction times~~.		To develop vision based pattern recognition methods able of detecting some universal gestures with strong relevance for sharing attention between a Robot and a Human (e.g. waving, pointing, looking).

	=== Description ===		=== Description ===

	~~Current object detection technology exhaustively searches the images~~ for ~~patterns of interest~~. ~~Although such brute-force approaches may present good performance in terms of successful detections, they are often too computationally demanding because require~~ the ~~scan of~~ the ~~full image~~, ~~independently of the task they~~ are ~~engaged on. Humans instead allocate their attentional resources ("computational power") to the most promising parts of the visual field~~, ~~according~~ to ~~their current expectations~~. ~~They are~~, ~~therefore, able~~ to ~~react faster~~, in ~~average,~~ to the ~~environmental events~~. In this work we will ~~exploit~~ the ~~knowledge of humans visual attention~~ to ~~design artificial vision algorithms more efficient that existing ones~~.		Interaction methods between robots and humans has been classically addressed by using speech communication or predefined gestures, usually designed in an ad-hoc manner for expert users, i.e. users have to learn the association between the gestures and the meaning. However, more and more robots are aimed at being deployed in social and public environments, having to interact with non-expert users. In such cases, only universal gestures may be of relevance to consider. For instance, waving is interpreted in all societies as an attention trigger or an alerting mechanism. Also pointing (or looking) at a certain direction immediately drives the attention of the observer to the pointed (or looked at) direction. In this work we aim at implementing the skills in a humanoid robot to detect and produce gestures that convey implicit information to-from the user.

			Beyond robotics, the developed methods will also have an important impact in future interactive systems, e.g. a digital camera can focus on the waving person, and likely lead to commercial applications.

	=== Prerequisites ===		=== Prerequisites ===
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	=== Expected Results ===		=== Expected Results ===

	The algorithms will be implemented in the iCub ~~robot platform~~. It is expected ~~that~~ the ~~algorithms will allow faster reaction times~~ and ~~higher responsiveness to~~ the ~~external events that currently existing methodologies~~.		The developed algorithms will be implemented in the humanoid robotic platform iCub. In the end of the project it is expected to illustrate the work done through a demonstration where:
	~~The developed algorithms will also have~~ an ~~impact on~~ the ~~implementation~~ of object ~~detection algorithms~~ (e.g. ~~faces~~) in ~~low power processors such as~~ the ~~ones existing in digital cameras, mobile phones, etc, possibly leading to commercial applications~~.		1 - a person waves to the robot and attracts its attention (the robot looks at the person).
			2 - the person looks or points at an object and the robot detects which is the object of interest.
			3 - The robot looks and points to the same object.

			Some required tools for this work (e.g. person and waving detection software) are available in the research group.

	=== Related Work ===		=== Related Work ===

	~~Multimodal Saliency~~-~~Based Bottom~~-~~Up Attention A Framework for the Humanoid Robot iCub~~, ~~Jonas Ruesch, Manuel Lopes~~, Alexandre Bernardino, ~~Jonas Hornstein,~~ José Santos-Victor~~, Rolf Pfeifer, 2008 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 19-23, 2008.~~		Waving detection using the local temporal consistency of ﬂow-based features for real-time applications, Plinio Moreno, Alexandre Bernardino, and José Santos-Victor. Accepted at ICIAR 2009.
	~~Link: http://www.isr~~.~~ist.utl.pt/labs/vislab/publications/08-icra-attention~~.~~pdf~~

Alex at 10:57, 27 April 2009

2009-04-27T10:57:12Z

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+[[Image:Attentibot1.jpg |frame|The humanoid Robot iCub]]
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+* Orientador: '''Prof. Alexandre Bernardino'''
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+Work framed by the Humanoids Robotics Research Area of the ISR Computer and Robot Vision Lab (Vislab).

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2009-04-24T18:09:31Z

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