Name
Abstract | ||
|---|---|---|
We present the prototype of an egocentric vision based assistive co-robot system. In this co-robot system, the user is wearing a pair of glasses with a forward looking camera, and is actively engaged in the control loop of the robot in navigational tasks. The egocentric vision glasses serve for two purposes. First, it serves as a source of visual input to request the robot to find a certain object in the environment. Second, the motion patterns computed from the egocentric video associated with a specific set of head movements are exploited to guide the robot to find the object. These are especially helpful for quadriplegic individuals who do not have needed hand functionality for interaction and control with other modalities (e.g., joystick). In our co-robot system, when the robot does not fulfill the object finding task in a pre-specified time window, it would actively solicit user controls for guidance. Then the users can use the egocentric vision based gesture interface to orient the robot towards the direction of the object. After that the robot will automatically navigate towards the object until it finds it. Our experiments validated the efficacy of the closed-loop design to engage the human in the loop. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICORR.2013.6650473 | ICORR |
Keywords | Field | DocType |
medical robotics,forward looking camera,head movements,motion patterns,closed-loop design,navigational tasks,control system synthesis,human in the loop,user controls,active learning,co-robot,path planning,cameras,quadriplegic individuals,egocentric vision based assistive co-robot system,gesture recognition,glasses,visual input,egocentric vision based gesture interface,closed loop systems,control loop,robot vision,image motion analysis,histograms,robot kinematics,glass | Robot learning,Computer vision,Social robot,Robot control,Personal robot,Gesture recognition,Artificial intelligence,Mobile robot navigation,Engineering,Robot,Joystick | Conference |
Volume | ISSN | ISBN |
2013 | 1945-7901 | 978-1-4673-6022-7 |
Citations | PageRank | References |
2 | 0.44 | 13 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jingzhe Zhang | 1 | 2 | 0.78 |
| Lishuo Zhuang | 2 | 2 | 0.44 |
| Yang Wang | 3 | 1256 | 71.28 |
| Yameng Zhou | 4 | 2 | 0.78 |
| Yan Meng | 5 | 87 | 8.47 |
| Gang Hua | 6 | 2796 | 157.90 |