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Predicting human intention in visual observations of hand/object interactions
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
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2013 (English)In: 2013 IEEE International Conference On Robotics And Automation (ICRA), New York: IEEE , 2013, 1608-1615 p.Conference paper (Refereed)
Abstract [en]

The main contribution of this paper is a probabilistic method for predicting human manipulation intention from image sequences of human-object interaction. Predicting intention amounts to inferring the imminent manipulation task when human hand is observed to have stably grasped the object. Inference is performed by means of a probabilistic graphical model that encodes object grasping tasks over the 3D state of the observed scene. The 3D state is extracted from RGB-D image sequences by a novel vision-based, markerless hand-object 3D tracking framework. To deal with the high-dimensional state-space and mixed data types (discrete and continuous) involved in grasping tasks, we introduce a generative vector quantization method using mixture models and self-organizing maps. This yields a compact model for encoding of grasping actions, able of handling uncertain and partial sensory data. Experimentation showed that the model trained on simulated data can provide a potent basis for accurate goal-inference with partial and noisy observations of actual real-world demonstrations. We also show a grasp selection process, guided by the inferred human intention, to illustrate the use of the system for goal-directed grasp imitation.

Place, publisher, year, edition, pages
New York: IEEE , 2013. 1608-1615 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
High-dimensional, Human manipulation, Human-object interaction, Manipulation task, Noisy observations, Probabilistic graphical models, Probabilistic methods, Visual observations, Computer vision, Conformal mapping, Encoding (symbols), Forecasting, Three dimensional, Vector quantization, Robotics
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URN: urn:nbn:se:kth:diva-139955DOI: 10.1109/ICRA.2013.6630785ISI: 000337617301091ScopusID: 2-s2.0-84887266463ISBN: 978-1-4673-5643-5ISBN: 978-1-4673-5641-1OAI: diva2:688215
2013 IEEE International Conference on Robotics and Automation, ICRA 2013; Karlsruhe, Germany, 6-10 May 2013

QC 20140116

Available from: 2014-01-16 Created: 2014-01-16 Last updated: 2014-08-04Bibliographically approved

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