Markerless Perspective Taking for Humanoid Robots in Unconstrained Environments

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Title: Markerless Perspective Taking for Humanoid Robots in Unconstrained Environments
Author(s): Fischer, T
Demiris, Y
Item Type: Conference Paper
Abstract: Perspective taking enables humans to imagine the world from another viewpoint. This allows reasoning about the state of other agents, which in turn is used to more accurately predict their behavior. In this paper, we equip an iCub humanoid robot with the ability to perform visuospatial perspective taking (PT) using a single depth camera mounted above the robot. Our approach has the distinct benefit that the robot can be used in unconstrained environments, as opposed to previous works which employ marker-based motion capture systems. Prior to and during the PT, the iCub learns the environment, recognizes objects within the environment, and estimates the gaze of surrounding humans. We propose a new head pose estimation algorithm which shows a performance boost by normalizing the depth data to be aligned with the human head. Inspired by psychological studies, we employ two separate mechanisms for the two different types of PT. We implement line of sight tracing to determine whether an object is visible to the humans (level 1 PT). For more complex PT tasks (level 2 PT), the acquired point cloud is mentally rotated, which allows algorithms to reason as if the input data was acquired from an egocentric perspective. We show that this can be used to better judge where object are in relation to the humans. The multifaceted improvements to the PT pipeline advance the state of the art, and move PT in robots to markerless, unconstrained environments.
Publication Date: 16-May-2016
Date of Acceptance: 14-Jan-2016
URI: http://hdl.handle.net/10044/1/29466
DOI: http://dx.doi.org/10.1109/ICRA.2016.7487504
Publisher: IEEE
Start Page: 3309
End Page: 3316
Journal / Book Title: Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 612139
Conference Name: 2016 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Published
Start Date: 2016-05-16
Finish Date: 2016-05-21
Conference Place: Stockholm, Sweden
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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