Human-Robot Interaction using Context Awareness and Active Plane Model

In this paper, after deciding correctly intention of actor using probabilistic context awareness, we propose method to recognize gesture using active plane model. Firstly, this algorithm defines actor´s state in 5 states; [NULL], [OBJECT], [POSE], [Global Gesture], [Local Gesture]. Then, probabilistic context awareness decides state that has maximum probability value in actor´s present state. Using APM, This algorithm extracts shape information and distance information in disparity image that is input by stereo camera. Finally, APM recognizes sequence of gesture by one gesture using HMM, after extracting eigen-vector and distinguishing each gesture through PCA. In this paper, proposed algorithm shows that it can be utilized by HCI of intelligent robot through experiment