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JRM Vol.20 No.4 pp. 515-525
doi: 10.20965/jrm.2008.p0515
(2008)

Paper:

Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach

Yusuke Tamura, Masao Sugi, Tamio Arai, and Jun Ota

Research into Artifact, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8568, Japan

Received:
January 31, 2008
Accepted:
June 24, 2008
Published:
August 20, 2008
Keywords:
pointing, context, epistemic action, human-robot interface
Abstract

We propose a human-adaptive approach for calculating human pointing targets, integrating (1) calculating the user’s subjective pointing direction from finger direction, (2) integrating sensory information obtained from user pointing and contextual information such as user action sequences, and (3) arranging target candidates based on the user’s characteristics of pointing and action sequences. The user’s subjective pointing direction is approximated by the linear function with the finger direction. Integration of sensory and contextual information using a probabilistic model enables the system to calculate the target accurately. Using a force-directed approach, we obtained good placement in which false estimations are decreased and not moved much from initial placement. Experimental results demonstrate the usefulness of our proposal.

Cite this article as:
Y. Tamura, M. Sugi, T. Arai, and J. Ota, “Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach,” J. Robot. Mechatron., Vol.20, No.4, pp. 515-525, 2008.
Data files:
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