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).
[PDF]
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.
