{"id":440,"date":"2016-05-06T12:14:09","date_gmt":"2016-05-06T10:14:09","guid":{"rendered":"http:\/\/www.mpateraki.org\/?p=440"},"modified":"2016-05-11T12:42:30","modified_gmt":"2016-05-11T10:42:30","slug":"visual-estimation-of-attentive-cues-in-hri-the-case-of-torso-and-head-pose","status":"publish","type":"post","link":"https:\/\/mpateraki.org\/?p=440","title":{"rendered":"Visual estimation of attentive cues in HRI: The case of torso and head pose."},"content":{"rendered":"<p>Sigalas M., <strong>Pateraki M.<\/strong> and Trahanias P., 2015. Visual estimation of attentive cues in HRI: The case of torso and head pose. In Computer Vision Systems, Lecture Notes in Computer Science, Volume 9163, pp. 375-388. Proc. of the 10th Intl. Conference on Computer Vision Systems (ICVS), 6-9 July, Kopenhagen, Denmark. [<a href=\"http:\/\/dx.doi.org\/10.1007\/978-3-319-20904-3_34\" target=\"_blank\">doi<\/a>] [<a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2014\/11\/sigalas2015.txt\" target=\"_blank\">bib<\/a>]<\/p>\n<p>Abstract:<\/p>\n<p>Capturing visual human-centered information is a fundamental input source for e\u000bective and successful human-robot interaction (HRI) in dynamic multi-party social settings. Torso and head pose, as<br \/>\nforms of nonverbal communication, support the derivation people&#8217;s focus of attention, a key variable in the analysis of human behaviour in HRI paradigms encompassing social aspects. Towards this goal, we have developed a model-based approach for torso and head pose estimation to overcome key limitations in free-form interaction scenarios and issues of partial intra- and inter-person occlusions. The proposed approach builds up on the concept of Top View Re-projection (TVR) to uniformly treat the respective body parts, modelled as cylinders. For each body part a number of pose hypotheses is sampled from its confi\fguration space. Each pose hypothesis is evaluated against the a scoring function and the hypothesis with the best score yields for the assumed pose and the location of the joints. A refi\fnement step on head pose is applied based on tracking facial patch deformations to compute for the horizontal o\u000bff-plane rotation. The overall approach forms one of the core component of a vision system integrated in a robotic platform that supports socially appropriate, multi-party, multimodal interaction in a bartending scenario.<br \/>\nResults in the robot&#8217;s environment during real HRI experiments with varying number of users attest for the eff\u000bectiveness of our approach.<\/p>\n<table align=\"center\">\n<tbody align=\"center\">\n<tr align=\"center\">\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_343_all_2.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_343_all_2-300x225.png\" alt=\"ori_343_all_2\" width=\"300\" height=\"225\" class=\"alignleft size-medium wp-image-446\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_343_all_2-300x225.png 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_343_all_2.png 640w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_270_all_2.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_270_all_2.png\" alt=\"ori_270_all_2\" width=\"640\" height=\"480\" class=\"alignleft size-full wp-image-445\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_270_all_2.png 640w, https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_270_all_2-300x225.png 300w\" sizes=\"auto, (max-width: 640px) 100vw, 640px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_261_all_2.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_261_all_2.png\" alt=\"ori_261_all_2\" width=\"640\" height=\"480\" class=\"alignleft size-full wp-image-444\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_261_all_2.png 640w, https:\/\/mpateraki.org\/wp-content\/uploads\/2016\/05\/ori_261_all_2-300x225.png 300w\" sizes=\"auto, (max-width: 640px) 100vw, 640px\" \/><\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>Sigalas M., Pateraki M. and Trahanias P., 2015. Visual estimation of attentive cues in HRI: The case of torso and head pose. In Computer Vision Systems, Lecture Notes in Computer Science, Volume 9163, pp. 375-388. Proc. of the 10th Intl. Conference on Computer Vision Systems (ICVS), 6-9 July, Kopenhagen, Denmark. [doi] [bib] Abstract: Capturing visual [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-440","post","type-post","status-publish","format-standard","hentry","category-publications"],"_links":{"self":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/440","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=440"}],"version-history":[{"count":3,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/440\/revisions"}],"predecessor-version":[{"id":447,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/440\/revisions\/447"}],"wp:attachment":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=440"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=440"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=440"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}