EVALUATION OF FINGER DIRECTION RECOGNITION METHOD FOR BEHAVIOR CONTROL OF ROBOT

摘要

When a human gives an order to a robot, the robot must often use its vision to ascertain thehuman’s indication. In our previous paper, to develop a system where robots precisely receive and obeyhuman orders in daily work spaces, we proposed an experimental system for finger directionrecognition (FDR) in 3D space using stereo matching by mounting two cameras on the robot. In thispaper, we evaluate this system for FDR in 3D space by performing a series of evaluation experimentsusing a turntable capable of fixing a hand in a specific finger direction. We estimated various fingerdirections and distances for two major pointing hand forms (Forms 1 and 2) and evaluated theprecision of θ and Φ. We conclude that the θ and Φ estimations are valid because the estimation erroris almost within 10when the distance between the camera and object is less than 110 and 80 cm for θand Φ for Forms 1 and 2, respectively. Finally, we applied our FDR system to the communicationbetween a robot and a person by visual and tactile sensations. In the application test, the robotrecognized the object at which the person pointed and put it in the person’s palm.