Fuzzy-Integral Based Estimate of Vertical-Direction Error Caused by Pointing Fingers at Objects

Masayoshi Kanoh; Tsuyoshi Nakamura

doi:10.20965/jaciii.2020.p0413

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JACIII Vol.24 No.3 pp. 413-421

doi: 10.20965/jaciii.2020.p0413

(2020)

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Fuzzy-Integral Based Estimate of Vertical-Direction Error Caused by Pointing Fingers at Objects

Masayoshi Kanoh^* and Tsuyoshi Nakamura^**

^*School of Engineering, Chukyo University
101-2 Yagoto Honmachi, Showa-ku, Nagoya, Aichi 466-8666, Japan

^**Graduate School of Engineering, Nagoya Institute of Technology
Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan

Received:

October 13, 2019

Accepted:

March 3, 2020

Published:

May 20, 2020

Keywords:

fuzzy integral, inclusion-exclusion integral, regression analysis, finger pointing, human symbiotic system

Abstract

There have been recent attempts to control home electric appliances and devices using robots. Information can be shared with robots by using finger pointing. Finger pointing is used as a means of communication with people around. However, when a person points at an object with a finger, position of the object cannot be indicated accurately. In this work, we studied the error between a target point, which a person tries to point at with a finger, and an observation point, which is actually pointed at. We also proposed an error estimation model using a fuzzy integral to estimate and correct the error at the observation point.

Can robot estimate object he wants?

Cite this article as:

M. Kanoh and T. Nakamura, “Fuzzy-Integral Based Estimate of Vertical-Direction Error Caused by Pointing Fingers at Objects,” J. Adv. Comput. Intell. Intell. Inform., Vol.24 No.3, pp. 413-421, 2020.

Data files:

References

[1] E. Tamura, Y. Yamashita, T. Yamashita, E. Sato-Shimokawara, and T. Yamaguchi, “Movement Operation Interaction System for Mobility Robot Using Finger-Pointing Recognition,” J. Adv. Comput. Intell. Intell. Inform., Vol.21, No.4, pp. 709-715, 2017.
[2] Y. Takahashi, K. Yoshida, F. Hibino, and Y. Maeda, “Human Pointing Navigation Interface for Mobile Robot with Spherical Vision System,” J. Adv. Comput. Intell. Intell. Inform., Vol.15, No.7, pp. 869-877, 2011.
[3] E. Sato, A. Nakajima, J. Nakazato, and T. Yamaguchi, “Toward Natural Communication: Human-Robot Gestural Interaction Using Pointing,” J. Adv. Comput. Intell. Intell. Inform., Vol.11, No.3, pp. 276-281, 2007.
[4] J. Richarz et al., “A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot,” Int. J. of Advanced Robotic Systems, Vol.4, No.1, 2007.
[5] C.-B. Park and S.-W. Lee, “Real-time 3D Pointing Gesture Recognition for Mobile Robots with Cascade HMM and Particle Filter,” Image and Vision Computing, Vol.29, No.1, pp. 51-63, 2011.
[6] K. Yamazaki et al., “Home-Assistant Robot for an Aging Society,” Proc. of IEEE, Vol.100, No.8, pp. 2429-2441, 2012.
[7] A. Mertens et al., “Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens,” Int. Conf. on Intelligent Robotics and Applications (ICIRA), pp. 542-552, 2011.
[8] D. Droeschel et al., “Towards Joint Attention for a Domestic Service Robot-Person Awareness and Gesture Recognition using Time-of-Flight Cameras,” Int. Conf. on Robotics and Automation (ICRA), pp. 1205-1210, 2011.
[9] T. Obo et al., “Pointing Gesture Detection for Humanoid-Robot Communication in Informationally Structured Space,” IEEE Symp. Series on Computational Intelligence, pp. 3148-3152, 2017.
[10] Y. Yano, “A Study on Error Evaluation on the Difference of the Target Points of Pointing Gesture between Subjective Points and Objective Points,” 41st Tokai Fuzzy Symp., 2016 (in Japanese).
[11] Y. Aikawa, K. Motoyama, M. Kanoh, T. Nakamura, and Y. Yano, “Correcting Pointing Position of Fingers by Using Inclusion-Exclusion Integral,” IEEE Int. Conf. on Fuzzy Systems (FUZZ-IEEE), pp. 1-4, 2018.
[12] K. Kawasaki et al., “Analyzing Direction of Remote Controller to it’s Objects,” Correspondences on Human Interface, Vol.4, No.5, pp. 5_85–5_90, 2002 (in Japanese).
[13] A. Honda and J. Okamoto, “Inclusion-Exclusion Integral and Its Application to Subjective Video Quality Estimation,” Information Processing and Management of Uncertainty in Knowledge-Based Systems, Theory and Methods, pp. 480-489, 2010.
[14] A. Honda and Y. Okazaki, “Theory of inclusion-exclusion integral,” Information Sciences, Vol.376, pp. 136-147, 2017.
[15] M. Grabisch, “k-order Additive Discrete Fuzzy Measures and Their Representation,” Fuzzy Sets and Systems, Vol.92, No.2, pp. 167-189, 1997.
[16] K. Fujimoto and T. Murofushi, “Some Characterizations of the Systems Represented by Choquet and Multi-Linear Functionals through the use of Möbius Inversion,” Int. J. of Uncertainty, Fuzziness and Knowledge-Based Systems, Vol.5, No.5, pp. 547-561, 1997.
[17] Y. Matsushita and H. Kambara, “Partition of Attribute and Fuzzy Integral Model for Evaluation Process,” Methodologies for the Conception, Design, and Application of Intelligent Systems: Proc. of the 4th Int. Conf. on Soft Computing (IIZUKA ’96), pp. 303-307, 1996.
[18] D. Dubois and H. Prade, “New Results about Properties and Semantics of Fuzzy Set-Theoretic Operators,” Fuzzy Sets, pp. 59-75, 1980.
[19] E. P. Klement, R. Mesiar, and E. Pap, “Triangular Norms,” Springer, 2000.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] E. Tamura, Y. Yamashita, T. Yamashita, E. Sato-Shimokawara, and T. Yamaguchi, “Movement Operation Interaction System for Mobility Robot Using Finger-Pointing Recognition,” J. Adv. Comput. Intell. Intell. Inform., Vol.21, No.4, pp. 709-715, 2017.

[2] [2] Y. Takahashi, K. Yoshida, F. Hibino, and Y. Maeda, “Human Pointing Navigation Interface for Mobile Robot with Spherical Vision System,” J. Adv. Comput. Intell. Intell. Inform., Vol.15, No.7, pp. 869-877, 2011.

[3] [3] E. Sato, A. Nakajima, J. Nakazato, and T. Yamaguchi, “Toward Natural Communication: Human-Robot Gestural Interaction Using Pointing,” J. Adv. Comput. Intell. Intell. Inform., Vol.11, No.3, pp. 276-281, 2007.

[4] [4] J. Richarz et al., “A Monocular Pointing Pose Estimator for Gestural Instruction of a Mobile Robot,” Int. J. of Advanced Robotic Systems, Vol.4, No.1, 2007.

[5] [5] C.-B. Park and S.-W. Lee, “Real-time 3D Pointing Gesture Recognition for Mobile Robots with Cascade HMM and Particle Filter,” Image and Vision Computing, Vol.29, No.1, pp. 51-63, 2011.

[6] [6] K. Yamazaki et al., “Home-Assistant Robot for an Aging Society,” Proc. of IEEE, Vol.100, No.8, pp. 2429-2441, 2012.

[7] [7] A. Mertens et al., “Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens,” Int. Conf. on Intelligent Robotics and Applications (ICIRA), pp. 542-552, 2011.

[8] [8] D. Droeschel et al., “Towards Joint Attention for a Domestic Service Robot-Person Awareness and Gesture Recognition using Time-of-Flight Cameras,” Int. Conf. on Robotics and Automation (ICRA), pp. 1205-1210, 2011.

[9] [9] T. Obo et al., “Pointing Gesture Detection for Humanoid-Robot Communication in Informationally Structured Space,” IEEE Symp. Series on Computational Intelligence, pp. 3148-3152, 2017.

[10] [10] Y. Yano, “A Study on Error Evaluation on the Difference of the Target Points of Pointing Gesture between Subjective Points and Objective Points,” 41st Tokai Fuzzy Symp., 2016 (in Japanese).

[11] [11] Y. Aikawa, K. Motoyama, M. Kanoh, T. Nakamura, and Y. Yano, “Correcting Pointing Position of Fingers by Using Inclusion-Exclusion Integral,” IEEE Int. Conf. on Fuzzy Systems (FUZZ-IEEE), pp. 1-4, 2018.

[12] [12] K. Kawasaki et al., “Analyzing Direction of Remote Controller to it’s Objects,” Correspondences on Human Interface, Vol.4, No.5, pp. 5_85–5_90, 2002 (in Japanese).

[13] [13] A. Honda and J. Okamoto, “Inclusion-Exclusion Integral and Its Application to Subjective Video Quality Estimation,” Information Processing and Management of Uncertainty in Knowledge-Based Systems, Theory and Methods, pp. 480-489, 2010.

[14] [14] A. Honda and Y. Okazaki, “Theory of inclusion-exclusion integral,” Information Sciences, Vol.376, pp. 136-147, 2017.

[15] [15] M. Grabisch, “k-order Additive Discrete Fuzzy Measures and Their Representation,” Fuzzy Sets and Systems, Vol.92, No.2, pp. 167-189, 1997.

[16] [16] K. Fujimoto and T. Murofushi, “Some Characterizations of the Systems Represented by Choquet and Multi-Linear Functionals through the use of Möbius Inversion,” Int. J. of Uncertainty, Fuzziness and Knowledge-Based Systems, Vol.5, No.5, pp. 547-561, 1997.

[17] [17] Y. Matsushita and H. Kambara, “Partition of Attribute and Fuzzy Integral Model for Evaluation Process,” Methodologies for the Conception, Design, and Application of Intelligent Systems: Proc. of the 4th Int. Conf. on Soft Computing (IIZUKA ’96), pp. 303-307, 1996.

[18] [18] D. Dubois and H. Prade, “New Results about Properties and Semantics of Fuzzy Set-Theoretic Operators,” Fuzzy Sets, pp. 59-75, 1980.

[19] [19] E. P. Klement, R. Mesiar, and E. Pap, “Triangular Norms,” Springer, 2000.

Fuzzy-Integral Based Estimate of Vertical-Direction Error Caused by Pointing Fingers at Objects

Masayoshi Kanoh* and Tsuyoshi Nakamura**

Masayoshi Kanoh^* and Tsuyoshi Nakamura^**