3D Head-Position Prediction in First-Person View by Considering Head Pose for Human-Robot Eye Contact

Autor:	Tamaru, Yuki, Ozaki, Yasunori, Okafuji, Yuki, Nakanishi, Junya, Yoshikawa, Yuichiro, Baba, Jun
Rok vydání:	2021
Předmět:	Computer Science - Artificial Intelligence Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is moving. Owing to these issues, it is important to conduct a head-position prediction to mitigate the effect of the delay in the robot motion. Based on the fact that humans turn their heads before changing direction while walking, we hypothesized that the accuracy of three-dimensional (3D) head-position prediction from a first-person view can be improved by considering the head pose. We compared our method with a conventional Kalman filter-based approach, and found our method to be more accurate. The experiment results show that considering the head pose helps improve the accuracy of 3D head-position prediction. Comment: Accepted to the 17th ACM/IEEE International Conference on Human-Robot Interaction Late-Breaking Reports (HRI 2022 LBR)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2103.06417 Zobrazit plný text záznamu View this record from Arxiv