ICRA 2011 Paper Abstract


Paper TuP101.3

Droeschel, David (University of Bonn), Stückler, Jörg (University of Bonn), Holz, Dirk (University of Bonn), Behnke, Sven (University of Bonn)

Towards Joint Attention for a Domestic Service Robot -- Person Awareness and Gesture Recognition Using Time-Of-Flight Cameras

Scheduled for presentation during the Regular Sessions "Personal and Service Robots" (TuP101), Tuesday, May 10, 2011, 14:10−14:25, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Gesture, Posture and Facial Expressions, Cognitive Human-Robot Interaction, Domestic Robots


Joint attention between a human user and a robot is essential for effective human-robot interaction. In this work, we propose an approach to person awareness and to the perception of showing and pointing gestures for a domestic service robot. In contrast to previous work, we do not require the person to be at a predefined position, but instead actively approach and orient towards the communication partner. For perceiving showing and pointing gestures and for estimating the pointing direction a Time-of-Flight camera is used. Estimated pointing directions and shown objects are matched to objects in the robot's environment.

Both the perception of showing and pointing gestures as well as the accurary of estimated pointing directions have been evaluated in a set of different experiments. The results show that both gestures are adequatly perceived by the robot. Furthermore, our system achieves a higher accuracy in estimating the pointing direction than is reported in the literature for a stereo-based system. In addition, the overall system has been successfully tested in two international [email protected] competitions and the 2010 ICRA Mobile Manipulation Challenge.



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