Paper Info
Title
Object Assembly Guidance in Child-Robot Interaction using RGB-D based 3D Tracking
Abstract
This work examines how and to what benefit an autonomous humanoid robot can supervise a child in an object assembly task. In order to understand the child's actions, a novel 3D object tracking algorithm for RGB-D data is employed. The tracker consists of two stages: the first performs a tracking-by-detection scheme on the color stream, to locate the objects on the image plane, while the second uses a particle filter that operates on the depth data stream to refine the first stage output and infer the objects' rotations. Given the six degrees-of-freedom of the assembly part poses, the system is able to recognize which connections have been completed at any given time. This information is then used to select an appropriate verbal or gestural response for the robot. Experimental results show that (a) the tracking algorithm is accurate, fast and robust to severe occlusions and fast movements, (b) the proposed method of assembly state estimation is indeed effective, and (c) the resulting Child-Robot Interaction scenario is educational and enjoyable for the children involved.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594187
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
Field
DocType
verbal response,3D object tracking algorithm,RGB-D data,object assembly task,autonomous humanoid robot,RGB-D based 3D,object assembly guidance,resulting Child-Robot Interaction scenario,assembly state estimation,gestural response,assembly part,degrees-of-freedom,depth data stream,particle filter,image plane,color stream,tracking-by-detection scheme
Computer vision,Task analysis,Data stream,Computer science,Image plane,Particle filter,Robot kinematics,Artificial intelligence,RGB color model,Robot,Humanoid robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-5386-8095-7
1
PageRank 
References 
Authors
0.35
0
6
Name
Order
Citations
PageRank
Jack Hadfield111.37
Petros Koutras2166.35
Niki Efthyrniou310.35
Gerasimos Potamianos41113113.80
Costas S. Tzafestas515325.95
Petros Maragos63733591.97