Lee, Dongheui und Soloperto, Raffaele und Saveriano, Matteo (2017) Bidirectional Invariant Representation of Rigid Body Motions and its Application to Gesture Recognition and Reproduction. Autonomous Robots. Springer. doi: 10.1007/s10514-017-9645-x. ISSN 0929-5593.
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Kurzfassung
In this paper we propose a new bidirectional invariant motion descriptor of a rigid body. The proposed invariant representation is not affected by rotations, translations, time, linear and angular scaling. Invariant properties of the proposed representation enable to recognize gestures in realistic scenarios with unexpected variations (e.g., changes in user’s initial pose, execution time or an observation point), while Cartesian trajectories are sensitive to these changes. The proposed invariant representation also allows reconstruction of the original motion trajectory, which is useful for human-robot interaction applications where a robot recognizes human actions and executes robot’s proper behaviors using same descriptors. By removing the dependency on absolute pose and scaling factors of the Cartesian trajectories the proposed descriptor achieves flexibility to generate different motion instances from the same invariant representation. In order to illustrate the effectiveness of our proposed descriptor in motion recognition and generation, it is tested on three datasets and experiments on a NAO humanoid robot and a KUKA LWR IV+ manipulator and compared with other existing invariant representations.
elib-URL des Eintrags: | https://elib.dlr.de/113317/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Bidirectional Invariant Representation of Rigid Body Motions and its Application to Gesture Recognition and Reproduction | ||||||||||||||||
Autoren: |
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Datum: | 15 Juni 2017 | ||||||||||||||||
Erschienen in: | Autonomous Robots | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1007/s10514-017-9645-x | ||||||||||||||||
Verlag: | Springer | ||||||||||||||||
ISSN: | 0929-5593 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Invariant representation, Rigid body Motion, Bidirectional descriptor, Recognition, Generation | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Lee, Prof. Dongheui | ||||||||||||||||
Hinterlegt am: | 19 Jul 2017 15:35 | ||||||||||||||||
Letzte Änderung: | 06 Sep 2019 15:18 |
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