Abstract
The development of a hybrid system for (mainly) gesturebased human-robot interaction is presented, thereby describing the progress in comparison to the work shown at the last gesture workshop (see [2]). The system makes use of standard image processing techniques as well as of neural information processing. The performance of our architecture includes the detection of a person as a potential user in an indoor environment, followed by the recognition of her gestural instructions. In this paper, we concentrate on two major mechanisms: (i), the contour-based person localization via a combination of steerable filters and three-dimensional dynamic neural fields, and (ii), our first experiences concerning the recognition of different instructional postures via a combination of statistical moments and neural classifiers.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Amari, S. Dynamics of pattern formation in lateral-inhibition type neural fields. Biological Cybernetics, 27:77–87, 1977.
Boehme, H.-J., Brakensiek, A., Braumann, U.-D., Krabbes, M., and Gross, H.-M. Neural Architecture for Gesture-Based Human-Machine-Interaction. In Gesture and Sign-Language in Human-Computer Interaction, Lecture Notes in Artificial Intelligence, pages 219–232. Springer, 1998.
Boehme, H.-J., Braumann, U.-D., Brakensiek, A., Krabbes, M., Corradini, A., and Gross, H.-M. Neural Networks for Gesture-based Remote Control of a Mobile Robot. In International Joint Conference on Neural Networks, volume 1, pages 372–377. IEEE Computer Society Press, 1998.
Boehme, H.-J., Braumann, U.-D., Brakensiek, A., Krabbes, M., Corradini, A., and Gross, H.-M. User Localisation for Visually-based Human-Machine-Interaction. In International Conference on Automatic Face-and Gesture Recognition, pages 486–491. IEEE Computer Society Press, 1998.
Boehme, H.-J. and Gross, H.-M. Ein Interaktives Mobiles Service=System füur den Baumarkt. In 14. Fachgesprüach Autonome Mobile Systeme (AMS’99), München. Springer, 1999. in press.
Darrell, T., Basu, S., Wren, C., and Pentland, A. Perceptually-driven Avatars and Interfaces: active methods for direct control. In SIGGRAPH’97, 1997. M.I.T. Media Lab Perceptual Computation Section, TR 416.
Fjeld, M., Bichsel, M., and Rauterberg, M. BUILDt: An Intuitive Design Tool Based on Direct Object Manipulation. In Gesture and Sign-Language in Human-Computer Interaction, pages 297–308, 1998.
Freeman, W.T. and Adelson, E.H. The Design and Use of Steerable Filters. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 13(9):891–906, 1991.
Grossberg, S. Some Networks That Can Learn, Remember, and Reproduce Any Number of Complicated Spacetime Patterns. Journal of Mathematics and Mechanics, 19(1):53–99, 1969.
Hunke, M.H. Locating and Tracking of Human Faces with Neural Networks. Technical report, Carnegie Mellon University Pittsburgh, 1994. CMU-CS-94-155.
Jones, J.P. and Palmer, L.A. An Evaluation of the Two-Dimensional Gabor Filter Model of Simple Receptive Fields in Cat Striate Cortex. Journal of Neurophysiology, 56(8):1233–1258, 1987.
Koenderink, J.J. and van Doorn, A.J. Receptive Field Families. Biological Cybernetics, 63:291–297, 1990.
Kohler, M. Special Topics of Gesture Recognition Applied in Intelligent Home Environments. In Gesture and Sign-Language in Human-Computer Interaction, pages 285–296, 1998.
Kohler, M. Vision Based Gesture Recognition Systems, 1998. http://ls7-www.informatik.uni-dortmund.de/html/englisch/gesture/vbgr-table.html.
K. Kopecz. Neural field dynamics provide robust control for attentional resources. In Aktives Sehen in technischen und biologischen Systemen, pages 137–144. Infix-Verlag, 1996.
Kortenkamp, D., Huber, E., and Bonasso, P.R. Recognizing and interpreting gestures on a mobile robot. In Thirteenth National Conference on Artificial Intelligence (AAAI-96), 1996.
Maggioni, C. and Kämmerer, B. GestureComputer-History, Design, and Applications. In Proceedings of the Workshop on Computer Vision in Man-Machine Interfaces, 1996.
Pomierski, T. and Gross, H.-M. Biological Neural Architectures for Chromatic Adaptation resulting in Constant Color Sensations. In ICNN’96, IEEE International Conference on Neural Networks, pages 734–739. IEEE Press, 1996.
Rigoll, G., Kosmala, A., and Eickeler, S. High Performance Real-time Gesture Recognition Using Hidden Markov Models. In Gesture and Sign-Language in Human-Computer Interaction, pages 69–80, 1998.
Zahn, T., Izak, R., Trott, T., and Paschke, P. A paced analog silicon model of auditory attention. In Neuromorphic Systems: Engineering Silicon from Neuro-biology. 1 st European Workshop on Neuromorphic Systems, pages 99–112. World Scientific Publishing, 1997.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Boehme, HJ., Braumann, UD., Corradini, A., Gross, HM. (1999). Person Localization and Posture Recognition for Human-Robot Interaction. In: Braffort, A., Gherbi, R., Gibet, S., Teil, D., Richardson, J. (eds) Gesture-Based Communication in Human-Computer Interaction. GW 1999. Lecture Notes in Computer Science(), vol 1739. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46616-9_11
Download citation
DOI: https://doi.org/10.1007/3-540-46616-9_11
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66935-7
Online ISBN: 978-3-540-46616-1
eBook Packages: Springer Book Archive