Tracking Human Gestures under Field-of-View Constraints
Pages 51 - 54
Abstract
This paper presents a control design for a desktop telepresence robot that guarantees satisfaction of field-of-view (FOV) constraints when dynamically tracking multiple points of interest on a person.The multi-point tracking problem is solved by complementing centroid tracking with local constraint satisfaction that is achieved by local integral barrier functions active only in small regions near the FOV limits. Such a control provides an aggregate view of the points of interest on the person and ensures that none of them goes out of view. A simulation study illustrates the performance of the proposed control in comparison with a conventional control.
References
[1]
S. Bhattacharya, R. Murrieta-Cid, and S. Hutchinson. 2007. Optimal paths for landmark-based navigation by differential-drive vehicles with field-of-view constraints. IEEE Trans. Robotics 23, 1 (2007), 47--59.
[2]
J. Chen, D. M. Dawson, W. E. Dixon, and V. K. Chitrakaran. 2007. Navigation function-based visual servo control. Automatica 43, 7 (2007), 1165--1177.
[3]
S. Frintrop, A. Konigs, F. Hoeller, and D. Schulz. 2010. A component-based approach to visual person tracking from a mobile platform. International Journal of Social Robotics 2, 1 (2010), 53--62.
[4]
O. Kermorgant and F. Chaumette. 2011. Combining IBVS and PBVS to ensure the visibility constraint. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2849--2854.
[5]
T. B. Moeslund, A. Hilton, and V. Kruger. 2006. A survey of advances in vision-based human motion capture and analysis. Computer Vision and Image Understanding 104 (2006), 90--126.
[6]
P. Salaris, D. Fontanelli, and L. Pallatino. 2010. Shortest paths for a robot with nonholonomic and field-of-view constraints. IEEE Trans. Robotics 26, 2 (2010), 269--281.
[7]
K.P. Tee, R. Yan, Y. Chua, Z. Huang, and S. Liemhetcharat. 2014. Gesture-Based Attention Direction for a Telepresence Robot: Design and Experimental Study. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 4090--95.
[8]
K. P. Tee and S. S. Ge. 2012. Control of State-Constrained Nonlinear Systems Using Integral Barrier Lyapunov Functionals. In Proc. 51st IEEE Conference on Decision & Control. 3239--3244.
[9]
A. Widyotriatmo, G.Y. Hong, and K.S. Hong. 2010. Configuration control of a wheeled vehicle using vision system with limited field of view. In International Conference on Control, Automation and Systems. 76--81.
Index Terms
- Tracking Human Gestures under Field-of-View Constraints
Recommendations
Hand-Eye Camera Calibration with an Optical Tracking System
ICDSC '18: Proceedings of the 12th International Conference on Distributed Smart CamerasThis paper presents a method for hand-eye camera calibration via an optical tracking system (OTS) faciltating robotic applications. The camera pose cannot be directly tracked via the OTS. Because of this, a transformation matrix between a marker-plate ...
Reducing drift in differential tracking
We present methods for turning pair-wise registration algorithms into drift-free trackers. Such registration algorithms are abundant, but the simplest techniques for building trackers on top of them exhibit either limited tracking range or drift. Our ...
Tracking Multiple Occluding People by Localizing on Multiple Scene Planes
Occlusion and lack of visibility in crowded and cluttered scenes make it difficult to track individual people correctly and consistently, particularly in a single view. We present a multi-view approach to solving this problem. In our approach we neither ...
Comments
Information & Contributors
Information
Published In
October 2016
414 pages
ISBN:9781450345088
DOI:10.1145/2974804
- General Chairs:
- Wei Yun Yau,
- Takashi Omori,
- Program Chairs:
- Giorgio Metta,
- Hirotaka Osawa,
- Shengdong Zhao
Copyright © 2016 Owner/Author.
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.
Sponsors
- Chinese and Oriental Language Information Processing Society: Chinese and Oriental Language Information Processing Society
In-Cooperation
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 04 October 2016
Check for updates
Author Tags
Qualifiers
- Poster
Conference
HAI '16
Sponsor:
- Chinese and Oriental Language Information Processing Society
HAI '16: The Fourth International Conference on Human Agent Interaction
October 4 - 7, 2016
Biopolis, Singapore
Acceptance Rates
HAI '16 Paper Acceptance Rate 29 of 182 submissions, 16%;
Overall Acceptance Rate 121 of 404 submissions, 30%
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 87Total Downloads
- Downloads (Last 12 months)1
- Downloads (Last 6 weeks)0
Reflects downloads up to 06 Nov 2024
Other Metrics
Citations
View Options
Get Access
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in