Conference Paper

A 2-Way Laser-Assisted Selection Scheme for Handhelds in a Physical Environment.

DOI: 10.1007/978-3-540-39653-6_16 Conference: UbiComp 2003: Ubiquitous Computing, 5th International Conference, Seattle, WA, USA, October 12-15, 2003, Proceedings
Source: DBLP

ABSTRACT We present a 2-way selection method to select objects in a physical environment with a novel feedback and transfer of control mechanism. A modulated laser pointer signal sent from a handheld device triggers a photosen- sitive tag placed in the environment. The tag responds via a standard wireless channel directly to the handheld with information regarding an object it repre- sents. We describe a prototype implementation for a Motorola iDEN i95cl cell phone, discuss the interaction challenges and application possibilities for this physical world selection that extends a common handheld device. We also compare this solution to related attempts in the literature.

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    ABSTRACT: We present a novel interface for human-robot interaction that enables a human to intuitively and unambiguously se- lect a 3D location in the world and communicate it to a mo- bile robot. The human points at a location of interest and illuminates it (“clicks it”) with an unaltered, off-the-shelf, green laser pointer. The robot detects the resulting laser spot with an omnidirectional, catadioptric camera with a narrow-band green filter. After detection, the robot moves its stereo pan/tilt camera to look at this location and esti- mates the location’s 3D position with respect to the robot’s frame of reference. Unlike previous approaches, this interface for gesture-based pointing requires no instrumentation of the environment, makes use of a non-instrumented everyday pointing device, has low spatial error out to 3 meters, is fully mobile, and is robust enough for use in real-world applications. We demonstrate that this human-robot interface enables a person to designate a wide variety of everyday objects placed throughout a room. In 99.4% of these tests, the robot successfully looked at the designated object and estimated its 3D position with low average error. We also show that this interface can support object acquisition by a mobile manipulator. For this application, the user selects an object to be picked up from the floor by “clicking” on it with the laser pointer interface. In 90% of these trials, the robot successfully moved to the designated object and picked it up off of the floor. ©ACM, 2008. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. is a digitized copy derived from an ACM-copyrighted work. ACM did not prepare this copy and does not guarantee that it is an accurate copy of the originally published work Presented at HRI ’08, 3rd ACM/IEEE Conference on Human-Robot Interaction, March 12-15, 2008, Amsterdam, The Netherlands. DOI: 10.1145/1349822.1349854