UNCALIBRATED STEREO VISION WITH POINTING FOR A MAN-MACHINE INTERFACE
Roberto Cipolla, Paul Hadfield and Nick Hollinghurst
Here we report preliminary work on a gesture-based interface for robot guidance. The system requires no physical contact with the operator, but has uncalibrated stereo vision with active contours to track the position and pointing direction of the hand. With a ground plane constraint, it is then possible to find the indicated position in the robot's workspace, by considering only two-dimensional collineations.
The system is accurate to about 2cm in a 40cm workspace; natural operator feedback improves this to within 1cm. It is initialized by observing just 4 points on the plane.
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