A real-time Human-Robot Interaction system based on gestures for assistive scenarios

Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-de...

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Detalles Bibliográficos
Autores: Canal, Gerard, Escalera, Sergio, Angulo, Cecilio
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2016
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/132972
Acceso en línea:http://hdl.handle.net/10261/132972
Access Level:acceso abierto
Palabra clave:Gesture recognition
Human robot interaction
Dynamic time warping
Pointing location estimation
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spelling A real-time Human-Robot Interaction system based on gestures for assistive scenariosCanal, GerardEscalera, SergioAngulo, CecilioGesture recognitionHuman robot interactionDynamic time warpingPointing location estimationNatural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness, through the projects TIN 2012-38416-C03-01 and TIN2013-43478-P. The research fellow Gerard Canal thanks the funding through a grant issued by the Catalunya — La Pedrera Foundation.Peer reviewedElsevierMinisterio de Economía y Competitividad (España)Fundació Catalunya-La PedreraConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]201620162016info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionhttp://hdl.handle.net/10261/132972reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2013-43478-Phttp://dx.doi.org/10.1016/j.cviu.2016.03.004Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1329722026-05-22T06:33:51Z
dc.title.none.fl_str_mv A real-time Human-Robot Interaction system based on gestures for assistive scenarios
title A real-time Human-Robot Interaction system based on gestures for assistive scenarios
spellingShingle A real-time Human-Robot Interaction system based on gestures for assistive scenarios
Canal, Gerard
Gesture recognition
Human robot interaction
Dynamic time warping
Pointing location estimation
title_short A real-time Human-Robot Interaction system based on gestures for assistive scenarios
title_full A real-time Human-Robot Interaction system based on gestures for assistive scenarios
title_fullStr A real-time Human-Robot Interaction system based on gestures for assistive scenarios
title_full_unstemmed A real-time Human-Robot Interaction system based on gestures for assistive scenarios
title_sort A real-time Human-Robot Interaction system based on gestures for assistive scenarios
dc.creator.none.fl_str_mv Canal, Gerard
Escalera, Sergio
Angulo, Cecilio
author Canal, Gerard
author_facet Canal, Gerard
Escalera, Sergio
Angulo, Cecilio
author_role author
author2 Escalera, Sergio
Angulo, Cecilio
author2_role author
author
dc.contributor.none.fl_str_mv Ministerio de Economía y Competitividad (España)
Fundació Catalunya-La Pedrera
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Gesture recognition
Human robot interaction
Dynamic time warping
Pointing location estimation
topic Gesture recognition
Human robot interaction
Dynamic time warping
Pointing location estimation
description Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016
2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/132972
url http://hdl.handle.net/10261/132972
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2013-43478-P
http://dx.doi.org/10.1016/j.cviu.2016.03.004
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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