Title:
A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation
A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation
| dc.contributor.author | Kemp, Charles C. | en_US |
| dc.contributor.author | Anderson, Cressel D. | en_US |
| dc.contributor.author | Nguyen, Hai | en_US |
| dc.contributor.author | Trevor, Alexander J. B. | en_US |
| dc.contributor.author | Xu, Zhe | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-03-14T18:34:21Z | |
| dc.date.available | 2011-03-14T18:34:21Z | |
| dc.date.issued | 2008-03 | |
| dc.description | ©ACM, 2008. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. http://doi.acm.org/.This is a digitized copy derived from an ACM-copyrighted work. ACM did not prepare this copy and does not guarantee that it is an accurate copy of the originally published work | en_US |
| dc.description | Presented at HRI ’08, 3rd ACM/IEEE Conference on Human-Robot Interaction, March 12-15, 2008, Amsterdam, The Netherlands. | en_US |
| dc.description | DOI: 10.1145/1349822.1349854 | en_US |
| dc.description.abstract | We present a novel interface for human-robot interaction that enables a human to intuitively and unambiguously se- lect a 3D location in the world and communicate it to a mo- bile robot. The human points at a location of interest and illuminates it (“clicks it”) with an unaltered, off-the-shelf, green laser pointer. The robot detects the resulting laser spot with an omnidirectional, catadioptric camera with a narrow-band green filter. After detection, the robot moves its stereo pan/tilt camera to look at this location and esti- mates the location’s 3D position with respect to the robot’s frame of reference. Unlike previous approaches, this interface for gesture-based pointing requires no instrumentation of the environment, makes use of a non-instrumented everyday pointing device, has low spatial error out to 3 meters, is fully mobile, and is robust enough for use in real-world applications. We demonstrate that this human-robot interface enables a person to designate a wide variety of everyday objects placed throughout a room. In 99.4% of these tests, the robot successfully looked at the designated object and estimated its 3D position with low average error. We also show that this interface can support object acquisition by a mobile manipulator. For this application, the user selects an object to be picked up from the floor by “clicking” on it with the laser pointer interface. In 90% of these trials, the robot successfully moved to the designated object and picked it up off of the floor. | en_US |
| dc.identifier.citation | Charles C. Kemp, Cressel D. Anderson, Hai Nguyen, Alexander J. Trevor, and Zhe Xu, “A point-and-click interface for the real world: laser designation of objects for mobile manipulation,” Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction (HRI '08). ACM, New York, NY, USA, 241-248. | en_US |
| dc.identifier.isbn | 978-1-60558-017-3 | |
| dc.identifier.uri | http://hdl.handle.net/1853/37382 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Association for Computing Machinery (ACM) | en_US |
| dc.subject | Artificial Intelligence | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Design | en_US |
| dc.subject | Human factors | en_US |
| dc.subject | Laser pointer interface | en_US |
| dc.subject | Mobile manipulation | en_US |
| dc.subject | Object fetching | en_US |
| dc.subject | Assistive robotics | en_US |
| dc.title | A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Kemp, Charles C. | |
| local.contributor.corporatename | Healthcare Robotics Lab | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | e4f743b9-0557-4889-a16e-00afe0715f4c | |
| relation.isOrgUnitOfPublication | c6394b0e-6e8b-42dc-aeed-0e22560bd6f1 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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