Cooperating with people: the intelligent classroom
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Template-based recognition of pose and motion gestures on a mobile robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Prototyping real-time vision systems: an experiment in DSL design
Proceedings of the 21st international conference on Software engineering
Gesture-based interaction with a pet robot
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Incremental Focus of Attention for Robust Vision-Based Tracking
International Journal of Computer Vision
Multimodal human discourse: gesture and speech
ACM Transactions on Computer-Human Interaction (TOCHI)
A Gesture Based Interface for Human-Robot Interaction
Autonomous Robots
DESEO: An Active Vision System for Detection, Tracking and Recognition
ICVS '99 Proceedings of the First International Conference on Computer Vision Systems
General Purpose Matching of Grey Level Arbitrary Images
IWVF-4 Proceedings of the 4th International Workshop on Visual Form
FVision: A Declarative Language for Visual Tracking
PADL '01 Proceedings of the Third International Symposium on Practical Aspects of Declarative Languages
Pointing gesture recognition based on 3D-tracking of face, hands and head orientation
Proceedings of the 5th international conference on Multimodal interfaces
Finger identification and hand posture recognition for human-robot interaction
Image and Vision Computing
Visual recognition of pointing gestures for human-robot interaction
Image and Vision Computing
The catchment feature model: a device for multimodal fusion and a bridge between signal and sense
EURASIP Journal on Applied Signal Processing
Adaptive multi-modal stereo people tracking without background modelling
Journal of Visual Communication and Image Representation
Robust Multiple-People Tracking Using Colour-Based Particle Filters
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Toward a framework for human-robot interaction
Human-Computer Interaction
People detection and tracking with multiple stereo cameras using particle filters
Journal of Visual Communication and Image Representation
Machine Vision and Applications
On reasoning over tracking events
SCIA'07 Proceedings of the 15th Scandinavian conference on Image analysis
A new person tracking method for human-robot interaction intended for mobile devices
MICAI'07 Proceedings of the artificial intelligence 6th Mexican international conference on Advances in artificial intelligence
Recognizing and interpreting gestures on a mobile robot
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
If at first you don't succeed...
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Multi-cue-based CamShift guided particle filter tracking
Expert Systems with Applications: An International Journal
3D-tracking of head and hands for pointing gesture recognition in a human-robot interaction scenario
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Humans and smart environments: a novel multimodal interaction approach
ICMI '11 Proceedings of the 13th international conference on multimodal interfaces
Advanced soft remote control system using hand gesture
MICAI'06 Proceedings of the 5th Mexican international conference on Artificial Intelligence
Robot navigation by eye pointing
ICEC'05 Proceedings of the 4th international conference on Entertainment Computing
Visual based human motion analysis: mapping gestures using a Puppet model
EPIA'05 Proceedings of the 12th Portuguese conference on Progress in Artificial Intelligence
Gesture recognition using a marionette model and dynamic bayesian networks (DBNs)
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part II
Hand detection by direct convexity estimation
ASB'03 Proceedings of the 1st international conference on Advanced Studies in Biometrics
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
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Communication involves more than simply spoken information. Typical interactions use gestures to accurately and efficiently convey ideas that are more easily expressed with actions than words. A more intuitive interface with machines should involve not only speech recognition, but gesture recognition as well. One of the most frequently used and expressively powerful gestures is pointing. It is far easier and more accurate to point to an object than give a verbal description of its location. To produce a more efficient, accurate, and natural human-machine interface we use the Perseus architecture to interpret the pointing gesture. Perseus uses a variety of techniques to reliably solve this complex visual problem in non-engineered worlds. Knowledge about the task and environment is used at all stages of processing to best interpret the scene for the current situation. Once the visual operators are chosen, contextual knowledge is used to tune them for maximal performance. Redundant interpretation of the scene provides robustness to errors in interpretation. Fusion of independent types of information results in increased tolerance when assumptions about the environment fail. Windows of attention are used to improve speed and remove distractions from the scene. Furthermore, reuse is a major issue in the design of Perseus. Information about the environment and task is explicitly represented so it can easily be re-used in tasks other than pointing. A clean interface to Perseus is provided for symbolic higher level systems like the RAP reactive execution system. In this paper we describe Perseus in detail and show how it is used to locate objects pointed to by people.