A Feedback Control, Gaze Following Approach for Human-Robot Interaction

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  • Additional Information
    • Publication Information:
      Publishing House of the Romanian Academy, 2016.
    • Publication Date:
      2016
    • Collection:
      LCC:Medicine (General)
      LCC:Science (General)
    • Abstract:
      Gaze following is one of the key requirements for successful Human-Robot Interaction (HRI). In this paper, a feedback controlled approach for facial features detection and gaze following is proposed. The goal of the method is to cope with uncertainties present in the context of HRI, namely different poses, occlusion and variable illumination conditions. The key elements of the method are the local and spatial estimators of the facial features, the Gaussian Mixture Model (GMM) used for segmenting the face, as well as the feedback control way in which the parameters of the whole processing chain are adapted. The system has been evaluated against temporal sequences of moving human agents, acquired via a stereo imaging system mounted on a mobile robotic platform. As performance metrics, the mean and the maximal normalized deviations between the manually determined ground truth and the estimated positions of the facial features have been chosen.
    • File Description:
      electronic resource
    • ISSN:
      1224-1407
      2343-7049
    • Relation:
      http://mss.academiaromana-is.ro/mem_sc_st_2016/5_Grigorescu.pdf; https://doaj.org/toc/1224-1407; https://doaj.org/toc/2343-7049
    • Rights:
      Journal Licence: CC BY-NC-ND
    • Accession Number:
      edsdoj.502749699374abe8ae5ff50f7e586a6
  • Citations
    • ABNT:
      SORIN M. GRIGORESCU; FLORIN MOLDOVEANU. A Feedback Control, Gaze Following Approach for Human-Robot Interaction. Memoirs of the Scientific Sections of the Romanian Academy, [s. l.], p. 54, 2016. Disponível em: . Acesso em: 16 out. 2019.
    • AMA:
      Sorin M. Grigorescu, Florin Moldoveanu. A Feedback Control, Gaze Following Approach for Human-Robot Interaction. Memoirs of the Scientific Sections of the Romanian Academy. 2016:54. http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428. Accessed October 16, 2019.
    • APA:
      Sorin M. Grigorescu, & Florin Moldoveanu. (2016). A Feedback Control, Gaze Following Approach for Human-Robot Interaction. Memoirs of the Scientific Sections of the Romanian Academy, 54. Retrieved from http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428
    • Chicago/Turabian: Author-Date:
      Sorin M. Grigorescu, and Florin Moldoveanu. 2016. “A Feedback Control, Gaze Following Approach for Human-Robot Interaction.” Memoirs of the Scientific Sections of the Romanian Academy, 54. http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428.
    • Harvard:
      Sorin M. Grigorescu and Florin Moldoveanu (2016) ‘A Feedback Control, Gaze Following Approach for Human-Robot Interaction’, Memoirs of the Scientific Sections of the Romanian Academy, p. 54. Available at: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428 (Accessed: 16 October 2019).
    • Harvard: Australian:
      Sorin M. Grigorescu & Florin Moldoveanu 2016, ‘A Feedback Control, Gaze Following Approach for Human-Robot Interaction’, Memoirs of the Scientific Sections of the Romanian Academy, p. 54, viewed 16 October 2019, .
    • MLA:
      Sorin M. Grigorescu, and Florin Moldoveanu. “A Feedback Control, Gaze Following Approach for Human-Robot Interaction.” Memoirs of the Scientific Sections of the Romanian Academy, 2016, p. 54. EBSCOhost, search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428.
    • Chicago/Turabian: Humanities:
      Sorin M. Grigorescu, and Florin Moldoveanu. “A Feedback Control, Gaze Following Approach for Human-Robot Interaction.” Memoirs of the Scientific Sections of the Romanian Academy, 2016, 54. http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428.
    • Vancouver/ICMJE:
      Sorin M. Grigorescu, Florin Moldoveanu. A Feedback Control, Gaze Following Approach for Human-Robot Interaction. Memoirs of the Scientific Sections of the Romanian Academy [Internet]. 2016 [cited 2019 Oct 16];54. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edsdoj&AN=edsdoj.502749699374abe8ae5ff50f7e586a6&custid=s8280428