Attention region detection and tracking for observing a person manipulating day-to-day objects
by Kotaro Nagahama; Tomohiro Nishino; Kimitoshi Yamazaki; Kei Okada; Masayuki Inaba
International Journal of Mechatronics and Automation (IJMA), Vol. 3, No. 1, 2013

Abstract: This paper presents a method for robots tracking multiple important regions with proper resolution while the robot is observing a person in daily environments. The system consists of a visual function to track end points and a composite vision system. The visual function uses 'continuous disparity filtering' that is an expansion of zero disparity iltering and other evaluation functions to track a person's head, hands and tips of tools. Besides, we developed a composite vision head with wide-angle cameras and zoom-enabled stereo cameras. We tested the visual function and the vision system by experiments to track a human head and hands, and to change the attention position to be captured with high resolution. These results showed the effectiveness of our approach.

Online publication date: Wed, 30-Apr-2014

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