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Precise pointing target recognition for human-robot interaction

  • This work presents a person independent pointing gesture recognition application. It uses simple but effective features for the robust tracking of the head and the hand of the user in an undefined environment. The application is able to detect if the tracking is lost and can be reinitialized automatically. The pointing gesture recognition accuracy is improved by the proposed fingertip detection algorithm and by the detection of the width of the face. The experimental evaluation with eight different subjects shows that the overall average pointing gesture recognition rate of the system for distances up to 250 cm (head to pointing target) is 86.63% (with a distance between objects of 23 cm). Considering just frontal pointing gestures for distances up to 250 cm the gesture recognition rate is 90.97% and for distances up to 194 cm even 95.31%. The average error angle is 7.28◦.

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Metadaten
Document Type:Conference Object
Language:English
Author:Thomas Breuer, Paul G. Ploeger, Gerhard K. Kraetzschmar
Parent Title (English):Proceedings of SIMPAR 2010 Workshops, International Conference on Simulation, Modeling, and Programming for Autonomous Robots. Darmstadt, Germany, November 15-16, 2010
First Page:229
Last Page:240
ISBN:978-3-00-032863-3
Publication year:2010
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2015/05/13