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Author

Sim, Jae-Young
Visual Information Processing Lab (VIP Lab)
Research Interests
  • Image processing, computer vision, 3D visual processing, signal processing

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Vision-based Cleaning Area Control for Cleaning Robots

Cited 1 times inthomson ciCited 1 times inthomson ci
Title
Vision-based Cleaning Area Control for Cleaning Robots
Author
Kim, SoowoongSim, Jae-YoungYang, Seungjoon
Keywords
Area control; Cleaning robot; Complex background; Haar-like features; Hand pose; HCI methods; Home environment; Input devices; Pose estimation; Service robots; Specific location; Test images; Video sequences; Vision based
Issue Date
201205
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON CONSUMER ELECTRONICS, v.58, no.2, pp.685 - 690
Abstract
This paper provides a vision based HCI method for a user to command a cleaning robot to move to a specific location in home environment. Six hand poses are detected from a video sequence taken from a camera on the cleaning robot. AdaBoost based hand-pose detectors are trained with a reduced Haar-like feature set to make the detectors robust to the influence of the complex background. The first three stages of the cascade in the six detectors are used as pose estimation to reduce the computational complexity. The cleaning area is determined from the detected pose. The performances of the proposed detectors are validated with a set of test images with cluttered background. The cleaning area control is simulated with real-world video sequences. The proposed method can effectively control a cleaning robot without the need for a user to wear or employ any input devices.
URI
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DOI
http://dx.doi.org/10.1109/TCE.2012.6227477
ISSN
0098-3063
Appears in Collections:
ECE_Journal Papers

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