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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...
In these days, human face identification is the safe technique of computer which has been developing quickly within the scope of global. In this paper, we described the basic techniques of image processing, such as different edge detection techniques, harmony variation, and the method of image and face recognition. We focused on human interface system, which was the first step to structure the target...
Covert-tracking robot refers to the mobile robot that not only can follow a human objective, but at the same time can control itself to keep away from the human's visual field. This paper proposes a head orientation estimation method based on probability model, which can help the robot to implement its covert behaviors. First, the elliptical head contour is tracked out by using a method based on quadrant...
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...
Vision based human robot interaction (HRI) is one of main interest in our research. The aim of this paper is the detection and localization of a human walker. Our system detects the human walking by tracking the skin, locating the head and the lower part of the body and determination of joints motion. We combine two approaches: skin colour detection and leg motion by the gradient method for gesture...
In this paper, we propose the face detection method for tracking a human by a mobile-robot. We obtain images from a web camera, and detect faces by focusing on skin colors and eyes as facial features. If we detect faces from images, we trace the detected human, take a picture of him/her, and print it automatically by using the mobile-robot. In order to show the effectiveness of the proposed method,...
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 this paper, we present a visual human motion capture (HMC) system embedded on a mobile robot. The estimation of the 3D location and configuration of our 14 DOF model of the upper human body is performed with a particle filter. We use a stereoscopic camera to derive appearance based visual cues together with 3D measurements computed from a sparse 3D reconstruction. A comparative study is carried...
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...
A vision system has been developed for human-robot symbiosis. The two novel contributions of this paper are 1) Detection of human faces and 2) Localizing the eye. The method is based on visual attributes of human skin colors and geometrical analysis of face skeleton. This paper introduces a spatial domain filtering method named dasiafuzzily skewed filterpsila which incorporates fuzzy rules for deciding...
This paper presents a simple approach to detect people using an 8times1 thermopile array sensor. The performance of the sensor is evaluated in terms of detection rates and false positives obtained in the application of the sensor to people counting at doorways and pedestrian detection from a mobile robot in a real environment. To ensure that people is detectable regardless of the ambient temperature,...
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