The Use of Harr-like Features in Bubblegrams: a Mixed Reality Human-Robot Interaction Technique
Date
2006-02-15
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Abstract
We present the application of a vision algorithm based on Harr-like
features in Bubblegrams - a new mixed reality-based human-robot interaction
(HRI) technique. Bubblegrams allows humans and robots working on collocated
synchronous tasks to interact directly by visually augmenting their shared
physical environment. Bubblegrams uses comics-like interactive graphic
balloons or bubbles that appear above the robot s body and allow intuitive
interaction with the robot. Users wear light-weight mixed reality goggles
that integrate displays and a camera, allowing the user to view and interact
with the physical environment as well as with the virtual Bubblegrams
interface linked to the robot s body. In order to efficiently link
Bubblegrams in real-time to the physical robot we implemented a vision
algorithm based on Harr-like features which is the main topic of this paper.
This paper briefly details the design of the Bubblegrams interface, the
hardware and software we use for the current prototype, and the full details
of the vision algorithm.
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Computer Science