2A2-M02 ロボットビジョンのRTコンポーネント化による指差し対象物認識(空間知)

概要

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This paper presents a gestual interaction system between human and robot using pointing movement. To interact at actual rooms, the system that obtained RGB information of a pointed out object was developed. The system recognized a pointing gesture and obtained a feature of pointed out object by a image processing. Two sets of tracking modules comprised of a camera and a PC was prepared in a room. Thus, in this research, we constructed RGB data obtaining module. The module obtained coordinates of indicated point and calculate the coordinates in picture. The system was developed using Robot Technology Middleware (RTM). RT Middleware was developed by AIST (Agency of Industrial Science and Technology, Japan) for easily integrating robot systems by modularized software components. By constructing modules based on RT Middleware, we developed modules, which are functional elements to interact with human as components of easily system integration.
一般社団法人日本機械学会の論文
2007-05-11