頭部姿勢を考慮した一人称視点での3D頭部位置予測による人間-ロボット間のアイコンタクト
3D Head-Position Prediction in First-Person View by Considering Head Pose for Human-Robot Eye Contact
歩行者の頭部姿勢を考慮することで一人称視点からの3D頭部位置予測精度を向上させ、ロボットの遅延を補償してアイコンタクトを可能にする手法を提案した。
著者: Yuki Tamaru, Yasunori Ozaki, Yuki Okafuji, Junya Nakanishi, Yuichiro Yoshikawa, Jun Baba
分類: cs.AI, cs.CV, cs.RO
原文アブストラクト
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.
