相关论文: Commodifying Pointing in HRI: Simple and Fast Poin…

Non-verbal communication is part of our regular conversation, and multiple gestures are used to exchange information. Among those gestures, pointing is the most important one. If such gestures cannot be perceived by other team members, e.g.…

Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

We present a method for the real-time estimation of the full 3D pose of one or more human hands using a single commodity RGB camera. Recent work in the area has displayed impressive progress using RGBD input. However, since the introduction…

Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…

Hand motion capture has been an active research topic in recent years, following the success of full-body pose tracking. Despite similarities, hand tracking proves to be more challenging, characterized by a higher dimensionality, severe…

Real-time simultaneous tracking of hands manipulating and interacting with external objects has many potential applications in augmented reality, tangible computing, and wearable computing. However, due to difficult occlusions, fast…

We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…

Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…

This paper proposes a novel method for human hands tracking using data from an event camera. The event camera detects changes in brightness, measuring motion, with low latency, no motion blur, low power consumption and high dynamic range.…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

We present an on-device real-time hand gesture recognition (HGR) system, which detects a set of predefined static gestures from a single RGB camera. The system consists of two parts: a hand skeleton tracker and a gesture classifier. We use…

Tracking and reconstructing the 3D pose and geometry of two hands in interaction is a challenging problem that has a high relevance for several human-computer interaction applications, including AR/VR, robotics, or sign language…

Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…

Estimating the 3D pose of a hand from a 2D image is a well-studied problem and a requirement for several real-life applications such as virtual reality, augmented reality, and hand gesture recognition. Currently, reasonable estimations can…

Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid…

Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…

Having a precise and robust transformation between the robot coordinate system and the AR-device coordinate system is paramount during human-robot interaction (HRI) based on augmented reality using Head mounted displays (HMD), both for…

Hand segmentation and fingertip detection play an indispensable role in hand gesture-based human-machine interaction systems. In this study, we propose a method to discriminate hand components and to locate fingertips in RGB-D images. The…

Hand pointing detection has multiple applications in many fields such as virtual reality and control devices in smart homes. In this paper, we proposed a novel approach to detect pointing vector in 2D space of a room. After background…