ICRA 2012 Paper Abstract


Paper TuC08.3

Pateraki, Maria (Foundation for Research and Technology - Hellas), Baltzakis, Haris (Foundation for Research and Technology - Hellas), Trahanias, Panos (Foundation for Research and Technology – Hellas (FORTH))

Using Dempster’s Rule of Combination to Robustly Estimate Pointed Targets

Scheduled for presentation during the Regular Session "Human Detection and Tracking" (TuC08), Tuesday, May 15, 2012, 15:00−15:15, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Computer Vision for Robotics and Automation, Human Detection & Tracking, Gesture, Posture and Facial Expressions


In this paper we address an important issue in human-robot interaction, that of accurately deriving pointing information from a corresponding gesture. Based on the fact that in most applications it is the pointed object rather than the actual pointing direction which is important, we formulate a novel approach which takes into account prior information about the location of possible pointed targets. To decide about the pointed object, the proposed approach uses the Dempster-Shafer theory of evidence to fuse information from two different input streams: head pose, estimated by visually tracking the off-plane rotations of the face, and hand pointing orientation. Detailed experimental results are presented that validate the effectiveness of the method in realistic application setups.



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