Implementing Bubblegrams: The Use of Haar-like Features for Human-Robot Interaction

Abstract

Bubblegrams - a human-robot interaction (HRI) technique - uses MR to allow collocated humans and robots to interact directly by visually augmenting their shared physical environment. Bubblegrams uses interactive comic-like graphic balloons that appear above the robot to allow for interaction between humans and robots. A key technical challenge facing Bubblegrams is the detection of the location of the robot within the user's vision; the MR system needs this information to place the bubble. To solve this, we applied a vision algorithm based on Haar-like features to find and track the robot in real time. This paper introduces the Bubblegrams interface and details the vision algorithm used to detect and track the robot.

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Citation

James E. Young, Ehud Sharlin, and Jeffrey E. Boyd. Implementing Bubblegrams: The Use of Haar-like Features for Human-Robot Interaction. In Proceedings of the IEEE Conference on Automation Science and Engineering, 2006. IEEE CASE ’06, Shanghai, China, October 8-10, 2006, pages 308--313, IEEE Computer Society Press.

Bibtext Entry

@INPROCEEDINGS{4120363,
author={Young, J.E. and Sharlin, E. and Boyd, J.E.},
booktitle={Automation Science and Engineering, 2006. CASE '06. IEEE International Conference on},
title={Implementing Bubblegrams: The Use of Haar-Like Features for Human-Robot Interaction},
year={2006},
pages={298-303},
keywords={computer graphics;graphical user interfaces;man-machine systems;robots;Bubblegrams interface;Haar-like features;human-robot interaction technique;interactive comic-like graphic balloons;mixed reality;robot tracking;vision algorithm;Application software;Displays;Human robot interaction;Orbital robotics;Physics computing;Robot control;Robot kinematics;Robot vision systems;Virtual reality;Visualization},
doi={10.1109/COASE.2006.326897}}