Pateraki M., Baltzakis H., Trahanias P., 2012. Using Dempster’s rule of combination to robustly estimate pointed targets. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 14-18 May, St. Paul, Minnesota, USA. [doi] [pdf] [bib]
Abstract:
In this paper we address an important issue in human-robot interaction, that of accurately deriving pointing information from a corresponding gesture. Based on the fact that in most applications it is the pointed object rather than the actual pointing direction which is important, we formulate a novel approach which takes into account prior information about the location of possible pointing targets. To decide about the pointed object, the proposed approach uses the Dempster-Shafer theory of evidence to fuse information from two different input streams: head pose, estimated by visually tracking the off-plane rotations of the face, and hand pointing orientation. Detailed experimental results are presented that validate the effectiveness of the method in realistic application setups.
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