Human-robot interface by pointing with uncalibrated stereo vision

被引：47
|
作者：
Cipolla, R
Hollinghurst, NJ
机构：
[1] Department of Engineering, University of Cambridge
来源：
IMAGE AND VISION COMPUTING | 1996年 / 14卷 / 03期
基金：
英国工程与自然科学研究理事会;
关键词：
human-computer interface; stereo vision; robot guidance;
D O I：
10.1016/0262-8856(96)84056-X
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Here we present the results of an investigation into the use of a pointing-based interface for robot guidance. The system requires no physical contact with the operator, but uses uncalibrated stereo vision with active contours to track the position and pointing direction of a hand in real time. With a ground plane constraint, it is possible to find the indicated position in the robot's workspace, by considering only two-dimensional collineations. Experimental and simulation data show that a resolution of within 1 cm can be achieved in a 40 cm workspace, allowing simple pick-and-place operations to be specified by finger pointing.
引用
收藏
页码：171 / 178
页数：8
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