When a person instructs operations to a robot, or performs a cooperative task with a robot, it is necessary to inform the robot of the person's intention and attention. Since the motion of a person's face and ...
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ISBN:
(纸本)0769503780
When a person instructs operations to a robot, or performs a cooperative task with a robot, it is necessary to inform the robot of the person's intention and attention. Since the motion of a person's face and the direction of the gaze is deeply related with person's intention and attention, detection of such motions can be utilized as a natural way of communication in human- robot interaction. In this paper, we describe our real-Time stereo face tracking system. The key of our system is the use of a stereo vision. Since the 3D coordinates of the features on the face can be directly measured in our system, we can drastically simplify the algorithm of the 3D model fitting to obtain the full 3D pose of the head compared with convention-Al system with monocular camera. Consequently we achieved a non-contact, passive, real-Time, robust, accurate and compact measurement system of human's head pose and gaze direction.
The correspondence analysis part of a model based vision system is investigated theoretically and through a synthetic image sequence showing a human hand gesture. The purpose of the study is to find and describe ways ...
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In this paper, we describe how Active Shape Models (ASMs) have been used to accurately and robustly locate vertebrae in lateral Dual Energy Xray Absorptiometry (DXA) images of the spine. DXA images are of low spatial ...
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ISBN:
(纸本)0818676205
In this paper, we describe how Active Shape Models (ASMs) have been used to accurately and robustly locate vertebrae in lateral Dual Energy Xray Absorptiometry (DXA) images of the spine. DXA images are of low spatial resolution, and contain significant random and structural noise, providing a difficult challenge for object location methods. All vertebrae in the image were searched for simultaneously, improving robustness in location of individual vertebrae by making use of constraints on shape provided by the position of other vertebrae. We show that the use of ASMs with minimal user interaction allows accuracy to be obtained which is as good as that achievable by human operators using a standard manual method.
People naturally express themselves through facial gestures and expressions. Our goal is to build a facial gesture human-computer interface for use in robot applications. We have implemented an interface that tracks a...
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People naturally express themselves through facial gestures and expressions. Our goal is to build a facial gesture human-computer interface for use in robot applications. We have implemented an interface that tracks a person's facial features in real time (30 Hz). Our system does not require special illumination nor facial makeup. The work is focused on real-time face tracking using dedicated hardware based on template matching. Tracking using template matching suffers from changing shade and deformation or even disappearance of facial features. By using multiple Kalman filters we accurately predict and robustly track facial features. This is despite disturbances and rapid movements of the head (including both translational and rotational motion). Since we reliably track the face in real-time we are also able to recognise motion gestures of the face. Our system can recognise a large set of gestures ranging from "yes", "no" and "may be" to detecting winks, blinks and sleeping.
Deformable models can be widely used to approximate objects from collected data points, but most algorithms can only handle geometrically and topologically simple objects. They are inadequate for objects with deep cav...
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Deformable models can be widely used to approximate objects from collected data points, but most algorithms can only handle geometrically and topologically simple objects. They are inadequate for objects with deep cavities or multi-part objects, or when more than one object is in the scene. We propose an approach which can fit simultaneously more than one surface to approximate multiple topologically complex objects. We use (1) the residual data points, (2) the bad parts of the fitting surface, and (3) appropriate Boolean operations. We then present an algorithm to construct an analytical surface representation, based on the elements detected. The global representation of an object, in terms of elements and their connection, takes the form of B-spline and Bezier surfaces. A Bezier surface is employed to connect different elements, and the connecting surface itself conforms to the data points nearby through energy minimization. This way, we achieve G1 continuity surfaces even for multipart objects. We present results on complex synthetic and real data. The system proceeds automatically without humaninteraction or any prior knowledge on the topology of the underlying object.
The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ...
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The authors wish to organize furniture in a room with a team of robots that can push objects. The authors show how coordinated pushing by robots can change the pose (position and orientation) of objects and then they ask whether planning, global control, and explicit communication are necessary for cooperatively changing the pose of objects. The authors answer in the negative and present, as witnesses, four cooperative manipulation protocols that use different amounts of state, sensing, and communication. The authors analyze these protocols in the information invariant framework. The authors formalize the notion of resource tradeoffs for robot protocols and give the tradeoffs for the specific protocols discussed here.
By automating viewing during teleoperation the operator can be released from the need to manually set camera viewing parameters, which distracts from the central component of the task, robotic manipulation. The challe...
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By automating viewing during teleoperation the operator can be released from the need to manually set camera viewing parameters, which distracts from the central component of the task, robotic manipulation. The challenge of automation is to manage the duality of automatic-control versus operator-in-control. Specifically, the operator needs to 'feel' in control, since otherwise confidence in the system, and hence performance, will be poor. We propose an approach that combines deliberative task models, models of human perception and reactive architectures. We use the peg-in-hole task as a case study and discuss the mapping of viewing requirements onto the camera resources defining the remote viewing facilities.
This research explores the interaction of textural and photographic information in document understanding. Specifically, it presents a computational model whereby textural captions are used as collateral information i...
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ISBN:
(纸本)0819413909
This research explores the interaction of textural and photographic information in document understanding. Specifically, it presents a computational model whereby textural captions are used as collateral information in the interpretation of the corresponding photographs. The final understanding of the picture and caption reflects a consolidation of the information obtained from each of the two sources and can thus be used in intelligent information retrieval tasks. The problem of performing general-purpose vision without a-priori knowledge is very difficult at best. The concept of using collateral information in scene understanding has been explored in systems that use general scene context in the task of object identification. The work described here extends this notion by incorporating picture specific information. A multistage system PICTION, which uses captions to identify humans in an accompanying photograph, is described. This provides a computationally less expensive alternative to traditional methods of face recognition. It does not require a prestored database of face models for all people to be identified. A key component of the system is the utilization of spatial and characteristic constraints (derived from the caption) in labeling face candidates (generated by a face locator).
In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which u...
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In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >
This book constitutes the refereed proceedings of the International Conference on Brain Informatics, BI 2011, held in Lanzhou, China, in September 2011. The 27 revised full papers and 6 keynote talks were carefully re...
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ISBN:
(数字)9783642236051
ISBN:
(纸本)9783642236044
This book constitutes the refereed proceedings of the International Conference on Brain Informatics, BI 2011, held in Lanzhou, China, in September 2011.
The 27 revised full papers and 6 keynote talks were carefully reviewed and selected for inclusion in the book. They are grouped in topcial sections on thinking and perception-centric investigations of
human information processing systems; information technologies for the management, analysis and use
of brain data; cognition-inspired applications. Furthermore, there is a section with 8 papers from the workshop on meta-synthesis and complex systems.
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