Abstract
In this paper, we propose a system for robust and flexible visual gesture recognition on a mobile robot for domestic service robotics applications. This adds a simple yet powerful mode of interaction, especially for the targeted user group of laymen and elderly or disabled people in home environments. Existing approaches often use a monolithic design, are computationally expensive, rely on previously learned (static) color models, or a specific initialization procedure to start gesture recognition. We propose a multi-step modular approach where we iteratively reduce the search space while retaining flexibility and extensibility. Building on a set of existing approaches, we integrate an on-line color calibration and adaptation mechanism for hand detection followed by feature-based posture recognition. Finally, after tracking the hand over time we adopt a simple yet effective gesture recognition method that does not require any training.
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Schiffer, S., Baumgartner, T., Lakemeyer, G. (2011). A Modular Approach to Gesture Recognition for Interaction with a Domestic Service Robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_34
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DOI: https://doi.org/10.1007/978-3-642-25489-5_34
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