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HUMAN ROBOT ROBOT INTERACTION (Gerard Canal's Master Thesis, 2015)

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HR2I (HUMAN ROBOT ROBOT INTERACTION)

Repository for the code of the Master Thesis called "Human Multi-Robot Interaction based on Gesture Recognition". The author of the thesis is Gerard Canal, and the supervisors are Cecilio Angulo and Sergio Escalera.

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A brief description of the project is:

Interaction with a robot in a gesture-based manner. It involves gesture detection and recognition with a depth camera posed on a mobile platform. A NAO robot may be used to perform object manipulation. Example case: a person pointing an object which the robot has to find and maybe grasp.

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Repository organization

The repository has two branches:

  • ros: With the ROS code and packages, to be execuged in a Linux (Ubuntu) operating system
  • Kinect: Contains the MS Visual Studio 2013 package with the code for the Kinect v2 sensor, which runs on a Windows 8.1 machine. The main project, HR2I_Kinect2 contains also the interface with ROS via the rosserial_windows package

Related publications

[1] Canal Camprodon, Gerard. Human multi-robot interaction based on gesture recognition. MS thesis. Universitat Politècnica de Catalunya, 2015. handle.net: 2099.1/25123

[2] Gerard Canal, Sergio Escalera, Cecilio Angulo, "Gesture based human multi-robot interaction," 2015 International Joint Conference on Neural Networks (IJCNN), Killarney, 2015, pp. 1-8. doi: 10.1109/IJCNN.2015.7280540

[3] Gerard Canal, Sergio Escalera, Cecilio Angulo, A real-time Human-Robot Interaction system based on gestures for assistive scenarios, Computer Vision and Image Understanding, Volume 149, 2016, Pages 65-77, ISSN 1077-3142. doi: 10.1016/j.cviu.2016.03.004

Videos

(Click on the image frame to open the video in youtube)

Master thesis [1] and IJCNN 2015 [2]

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CVIU 2016 [3] (Includes facial gestures)

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HUMAN ROBOT ROBOT INTERACTION (Gerard Canal's Master Thesis, 2015)

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