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With the development of face recognition technology, it is already being applied in various fields such as security and robotics. However, products associated with face recognition systems are difficult to commercialize because of the absence of evaluation methods that reflect the actual service environment. The best way to evaluate face recognition performance is evaluation by real people or methods...
This paper introduces a novel vision device for hand gesture-based human-robot interaction. Taking advantage of an eye-in-hand configuration, the proposed device guarantees that a target hand is projected always onto images captured from a camera. On the basis of the device, an adaptive histogram-based hand region segmentation algorithm is also proposed especially to enhance the performance against...
The design and development of an Intelligent Robotic Donation Box (IRDB) system as a typical final year project in Mechatronics engineering is presented in this paper. The developed IRDB system has the capability of collecting donation from people in an organized assembly or gathering. Also incorporated into this system is the ability to attract attention of people by making audible sound, gesture...
Recently, the demand for the indoor robots has increased. Therefore, increased opportunities for many people to operate the robots have emerged. However, for many people, it is often difficult to operate a robot using the conventional methods like remote control. To solve this problem, we propose a robot operation system using the hand gesture recognition. Our method pays attention to the direction...
This paper presents a grey neural network-based forecasting system (GNNFS) in solving the prediction problem. GNNFS adopts a grey model to predict the signal and a neural network (NN) to forecast the prediction error of the grey model. A sequential batch learning (SBL) is developed to adjust the weights of the NN. The proposed GNNFS is applied to a binocular robot, called an Eye-Robot, for human-robot...
A fuzzy logic based multi-modal gesture recognition method is proposed, where both camera images and hand motion data (given by a 3D acceleration sensor put on human wrists) are used to notify the emotion of humans to robots in real time. To demonstrate the validity, it is applied to a part of the home party scenario enjoyed by five eye robots and four human participants, where 8 types of human emotional-gestures...
This paper describes a visual perception system which allows a social robot to conduct several tasks. The central part of this system is an artificial attention mechanism which is able to discriminate the most relevant information from all the visual information perceived by the robot. This attention mechanism is composed by three modules or stages. At the preattentive stage, a set of uniforms blobs...
A human has various sensory perceptions, and effectively uses them in communication. Auditory and visual functions especially play an important role for recognizing someone to talk to and understanding the conversation. In vocal communication, we are able to detect the position of a source sound in 3D space, extract a particular sound from mixed sounds, and recognize who is talking. In addition, we...
This paper tackles a common problem in human-robot interaction: recognizing the intentions of a human in an intuitive way. We present a system that is able to recognize dynamic human gestures in an interaction scenario where a humanoid robot visually observes the behavior of a human. This allows for a natural human-robot communication where no markers or technical devices are necessary on the side...
The challenging problem of planning manipulation tasks for dexterous robotic hands can be significantly simplified if the robot system has the ability to learn manipulation skills by observing a human demonstrator. Toward this goal, we present a novel computer vision based hand posture recognition system to serve as an intelligent interface for skill transfer in robotic manipulation. We use the inner...
This paper presents results achieved in the frames of a national research project (titled ldquoDIANOEMArdquo), where visual analysis and sign recognition techniques have been explored on Greek Sign Language (GSL) data. Besides GSL modelling, the aim was to develop a pilot application for teleoperating a mobile robot using natural hand signs. A small vocabulary of hand signs has been designed to enable...
In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
Target tracking has become an area of interest in recent years. Target tracking is able to widen the perspective and view of the static camera to track a target, providing basic artificial intelligence features for robots, and serve as the platform for surveillance purpose. A tracking system is limited to a monocular vision which limits much of the information that is available in an image compared...
This paper proposed the face detection and tracking system using a embedded computing system for humanoid robot environment which allows the user to observe of recognize an unknown person. For detection faces in image sequence, the system uses the skin color model and deformable ellipse matching. Faces in a view are detected by maximizing the image gradient magnitude around the perimeter of the ellipse...
Rapid prototyping allows for evaluation of design product in a short period of time. Designers or CEOs may perceive the size and appearance of the product by touching the automatically constructed physical objects produced through rapid prototyping. However, it is usually impossible to change its color, texture, and user interface. In this paper, we introduce 'Augmented Reality based Re-formable Mock-up',...
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