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conference paper

Robot Identification and Localization with Pointing Gestures

Gromov, Boris
•
Gambardella, Luca M.
•
Giusti, Alessandro
January 7, 2019
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

We propose a novel approach to establish the relative pose of a mobile robot with respect to an operator that wants to interact with it; we focus on scenarios in which the robot is in the same environment as the operator, and is visible to them. The approach is based on comparing the trajectory of the robot, which is known in the robot's odometry frame, to the motion of the arm of the operator, who, for a short time, keeps pointing at the robot they want to interact with. In multi-robot scenarios, the same approach can be used to simultaneously identify which robot the operator wants to interact with. The main advantage over alternatives is that our system only relies on the robot's odometry, on a wearable inertial measurement unit (IMU), and, crucially, on the operator's own perception. We experimentally show the feasibility of our approach using real-world robots.

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Type
conference paper
DOI
10.1109/IROS.2018.8594174
Author(s)
Gromov, Boris
•
Gambardella, Luca M.
•
Giusti, Alessandro
Date Issued

2019-01-07

Journal
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start page

3921

End page

3928

Subjects

Robot sensing systems

•

Robot kinematics

•

Solid modeling

•

Manipulators

•

Drones

•

Three-dimensional displays

Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
NCCR-ROBOTICS  
Event nameEvent placeEvent date
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Madrid, Spain

October 1-5, 2018

Available on Infoscience
October 31, 2019
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/162597
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