1 a point-and-click interface for the real world: laser designation of objects for mobile...
TRANSCRIPT
![Page 1: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/1.jpg)
1
A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation
Presented by Gal PelegCSCI2950-Z, Brown University
April 5, 2010
By C. Kemp, C. Anderson, H. Nguyen, A. Trevor, and Z. Xu
Human-Robot Interaction , pp. 241-248, 2008.
![Page 2: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/2.jpg)
Presentation OutlineMotivation & Problem Statement
Demonstration (Video)
Prior & Related Work
Implementation
Experiments
Results
Discussion & Future Work
2
![Page 3: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/3.jpg)
Motivation & Problem Statement
Robots need to be able to:manipulate common hand-held objectsdo so by receiving direction from people
The authors’ approach: requires no instrumentation of the environmentmakes use of everyday pointing deviceshas low spatial error is fully mobile
3
![Page 4: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/4.jpg)
Demonstration (Videos)ELE, an assistant robot, performing object retrieva
l interacting with users through the clickable world interface
4
![Page 5: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/5.jpg)
Prior & Related Work(Problems with) 2D point-and-click GUI
controlling from a remote locationdisplay size, device usability, and comfort requires that the user switch perspectives
(Problems with) Natural Pointingcommunicating a precise location is difficultproduces high uncertainty
5
![Page 6: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/6.jpg)
Prior & Related Work (Continued)(Problems with) Intelligent Devices
need specialized, networked, computer-operated, intelligent devices
can’t interact with physical environment
(Problems with) “Traditional” Laser Designation tasks are constrained few well-modeled objects
6
![Page 7: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/7.jpg)
ImplementationThree main steps:
1. detect the laser spot in field of view2. move stereo camera to look at the detected spot3. estimate 3D location of spot relative to robot’s
body (4). move to, and grasp object
7
![Page 8: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/8.jpg)
Implementation (Continued)Observing the environment
authors use a catadioptric, omnidirectional camera placed at 1.6m
well-matched to human environments
8
![Page 9: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/9.jpg)
Implementation (Continued)Detecting the Laser Spot
high visibility: humans vs. robots using video cameras
use a monochrome camera with a narrow-band, green filter matched to the frequency of green laser pointers
Estimating the 3D Locationdetect laser spot and estimate its 3D location eight
times, if successful, return averageelse, keep looking
9
![Page 10: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/10.jpg)
Experiment 1: SetupDesignating Positions of Objects
9 different household objects “Office” environment 180 trials of the laser detection and position
estimation
10
![Page 11: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/11.jpg)
Experiment 1: ResultsTest resulted in 178 successful “clicks” out of 179
attempts (99.4%)
Average error of 9.75 cm with respect to hand-measured locations
11
![Page 12: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/12.jpg)
Experiment 2Mobile Manipulation: Grasping Selected Objects
here, robot also approaches, grasps, and lifts objectable to successfully grasp nine out of the ten objects
12
![Page 13: 1 A Point-and-Click Interface for the Real World: Laser Designation of Objects for Mobile Manipulation Presented by Gal Peleg CSCI2950-Z, Brown University](https://reader030.vdocuments.net/reader030/viewer/2022013101/56649f395503460f94c565bb/html5/thumbnails/13.jpg)
Discussion & Future Work
One Idea: combining laser pointer interface with speech
One Problem: no studies conducted with non-expert users
Claim: “The current laser pointer interface is robust enough for realistic applications”
Your thoughts?
13