指差しによるダイバーの関心対象提示：AUVのための人間指示物体検査
Diver Interest via Pointing: Human-Directed Object Inspection for AUVs
ダイバーの指差しジェスチャーから関心対象を推定し、自律水中ロボットに伝えるモジュール式アルゴリズムDIPを提案。単眼カメラと姿勢推定、特徴点密度を利用して対象物を特定する。
著者: Chelsey Edge, Junaed Sattar
分類: cs.HC, cs.RO
原文アブストラクト
In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses and their directions. By extracting 2D scene geometry based on the human body pose and density of salient feature points along the direction of pointing, using a low-level feature detector, the DIP algorithm is able to locate objects of interest as indicated by the diver.
