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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.4 No.2 pp.139-146

서비스 로봇을 위한 지시 물체 분할 방법

김 형 오1, 김 수 환2, 김 동 환2, 박 성 기
1KIST 인지로봇연구단 위촉연구원, 2KIST 인지로봇연구단 연구원, KIST 인지로봇연구단 책임연구원

Segmentation of Pointed Objects for Service Robots

Sung-Kee Park, KimHyung-O1, Kim Soo-Hwan2, Kim Dong-Hwan2


This paper describes how a person extracts a unknown object with pointing gesture whileinteracting with a robot. Using a stereo vision sensor, our proposed method consists of two stages: thedetection of the operators' face, the estimation of the pointing direction, and the extraction of thepointed object. The operator's face is recognized by using the Haar-like features. And then weestimate the 3D pointing direction from the shoulder-to-hand line. Finally, we segment an unknownobject from 3D point clouds in estimated region of interest. On the basis of this proposed method, weimplemented an object registration system with our mobile robot and obtained reliable experimentalresults.


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