RGB-D画像を用いた関節位置推定に基づく指差方向認識による搬送用AMRの移動指示インタフェース

抄録

This paper describes a pointing gesture interface for an AMR used in factory transportation. The pointing gesture by a person is not always precise and contains ambiguity because of the person’s habit. Previous research on pointing gestures has focused on estimating the exact pointing position, which affects the accuracy of robot guidance. Our research assumes that human pointing is ambiguous. Our interface avoids estimating the 2D position on the floor from human pointing, and only estimates the pointing direction. By combining the recognized pointing direction with object recognition using RGB images, our system could guide the AMR to a specific position.