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General Information
    • ISSN: 1793-8244
    • Frequency: Semiyearly
    • DOI: 10.18178/JACN
    • Editor-in-Chief: Dr. Ka Wai Gary Wong
    • Executive Editor: Ms. Nina Lee
    • Abstracting/ Indexing: EI (INSPEC, IET),  Electronic Journals Library, Ulrich's Periodicals Directory, EBSCO, ProQuest, and Google Scholar.
    • E-mail: jacn@ejournal.net
Dr. Ka Wai Gary Wong
Division of Information and Technology Studies, Faculty of Education, The University of Hong Kong.
It's a honor to serve as the editor-in-chief of JACN. I'll work together with the editors and reviewers to help the journal progress
JACN 2013 Vol.1(2): 75-78 ISSN: 1793-8244
DOI: 10.7763/JACN.2013.V1.16

Pointing Angle Estimation for Human-Robot Interface

Nur Safwati Mohd Nor, Yoshio Maeda, and Makoto Mizukawa
Abstract—In this paper, we propose an approach to track and estimate user pointing direction in 3D Space. In the area of human-robot interaction, user communicates with service robot in their daily life activities to give commands and execute the given task accordingly. Therefore, the ability of user to gives command to service robot naturally can provide an interactive user interface system for real 3D space environment. For this purpose, we aim to perform pointing gesture tracking and after that estimate the user's pointing direction. Our method of pointing direction estimation is based on 3D orientation of hand and shoulder center of user. We make comparison with our previous method to find the best hypothesis. Experimental results show the angular error for the estimation of pointing direction is successfully improved from our previous method. As a result, our natural user interface system can manipulate 3D objects in living room environment thus providing intuitive robotic service for human robot interaction.

Index Terms—Human-robot interaction, pointing gesture, user tracking.

N. S. Mohd Nor and Yoshio Maeda are with the Graduate School of Engineering, Shibaura Institute of Technology, Tokyo 135-8548 Japan (tel.: +81-3-5859-8209; e-mail: nb11501@shibaura-it.ac.jp, ma11140@shibaura-it.ac.jp).
M. Mizukawa is with College of Engineering, Shibaura Institute of Technology, Tokyo, 135-8548, Japan (tel: +81-3-5859-8209; e-mail: mizukawa@sic.shibaura-it.ac.jp).


Cite:Nur Safwati Mohd Nor, Yoshio Maeda, and Makoto Mizukawa, "Pointing Angle Estimation for Human-Robot Interface," Journal of Advances in Computer Networks vol. 1, no. 2, pp. 75-78, 2013.

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