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A smart wearable robot glasses system is proposed to assist human visual augmentation in daily life, providing a refined visual recognition result to users from multiple input images of the proposed system. It consists of a glasses-type wearable device with a front-view camera, eye-view camera, mounted display, earphone, and computing unit for signal processing. The scene-understanding process on...
This article focuses on the design and implementation of smart wearable robot glasses for human visual augmentation, which take a role to provide the refined visual recognition result to users of wearing the proposed system. The proposed system consists of a glass-type wearable device with a front looking camera, an eye looking camera, and an earphone, and signal processing units. The scene-analyzing...
Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made...
This paper presents the development of graphical user interface (GUI) for Humanoid Head Robot Amir-II. The GUI serves as a monitoring tool for the robot operation which includes the visual input from a webcam as its eye and the positioning of the Dynamixel AX-12 robot actuators. Matlab Graphical User Interface Development Environment (Matlab GUIDE) is used in developing the GUI which enables Matlab...
Android robots that have a human-like appearance have been developed recently. A one of the purpose of android robots is to realize natural communication between human and robot by implementing human-like behaviors. In human communication, since it is said that facial expressions contribute to face-to-face communication effectively as a non-verbal medium, we have been developing the face robot that...
The aim of our project is to develop a robot to manipulate an object in human environment. In this paper, as a first step, we focus on opening paper box such as tea box, and present a method to plan grasp motion by 2 arms with multi-fingered hands. we propose a task priority based scheme to plan grasping area consistent with whole steps of the given task procedure. Based on the grasping area and the...
Imitating the facial expressions of another person is a meaningful signal within interpersonal communication. Providing a robot with the capability of imitating the face of an interactant marks a first step towards implementing a communication model of mimicry. In this paper, we present a novel approach to facial expression imitation which does not require observed expressions to be assigned to a...
This paper presents a model based system for a mobile robot to find an optimal pose for the observation of a person in indoor living environments. We define the observation pose as a combination of the camera position and view direction as well as further parameters like the aperture angle. The optimal placement of a camera is not trivial because of the high dynamic range of the scenes near windows...
In this paper we present a novel methodology for detection and tracking of facial features like eyes, nose and mouth in image sequences. The proposed methodology is intended to support natural interaction with autonomously navigating robots that guide visitors in museums and exhibition centers and, more specifically, to provide input for the analysis of facial expressions that humans utilize while...
Mobile service robots are becoming more and more popular, both in public and private places, so their perception capabilities must be adequate to detect and recognize people. One of the methods to accomplish the last task is face recognition, but this is unfortunately very challenging because of the human and robot motion. Also, besides the identities of individuals, the system should be able to distinguish...
A camera can assist a robot to detect and track objects when it is used in a scout robot system, and hence, help the robot to navigate. This paper discusses problems of tracking a human face where an active camera is installed on a 2 DOF pan and tilt. Kinematics model between object in motion and image of camera is built. The face detection and tracking algorithm is introduced which uses complexion...
During last years, robotic research has explored Human-Robot interactions especially for the challenge of the robot companion. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks. Guidance is one of the tasks that the robot companion must perform. This paper describes Robbie, a wheeled robot companion uses for guiding...
Service robots generally aim to achieve various tasks in order to improve human daily life. Thus the interaction between human and robot is necessary. While robot performs the interaction, monitoring and tracking human by the robot are essential technologies in such applications. In this paper, we address our researches on human face detection, tracking and recognition by a color camera mounted in...
Since body representation is one of the most fundamental issues for physical agents (humans, primates, and also robots) to adaptively perform various kinds of tasks, a number of learning methods have attempted to make robots acquire their body representation. However, these previous methods have supposed that the reference frame is given and fixed a priori. Therefore, such acquisition has not been...
Interactive service robots are ready to serve us both in public and private places soon. This paper presents a multisensor framework to the simultaneous tracking and recognition of humans so that a service robot can implement reception tasks interactively. Both a laser range scanner and a camera have been deployed in the framework. By fusing range and visual data, the robot can detect and identify...
This paper describes a human machine interaction application for building panoramic views easily and efficiently. The panoramas are not limited to the 1D problem (one axis of rotation). The viewing direction of the camera acquiring snapshots is directly controlled by the userpsilas tracked gaze direction through a 3D face tracker. Natural face motions can be used to control local or remote camera...
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