UNCALIBRATED STEREO VISION WITH POINTING FOR A MAN-MACHINE INTERFACE
Roberto Cipolla, Paul Hadfield and Nick Hollinghurst
December 1994
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.
If you have difficulty viewing files that end '.gz',
which are gzip compressed, then you may be able to find
tools to uncompress them at the gzip
web site.
If you have difficulty viewing files that are in PostScript, (ending
'.ps' or '.ps.gz'), then you may be able to
find tools to view them at
the gsview
web site.
We have attempted to provide automatically generated PDF copies of documents for which only PostScript versions have previously been available. These are clearly marked in the database - due to the nature of the automatic conversion process, they are likely to be badly aliased when viewed at default resolution on screen by acroread.