Abstract
The rapid development of intelligent robotics would facilitate humans and robots will live and work together at a human workspace in the near future. It means research on effective human-robot interaction is essential for future robotics. The most common situation of human-robot interaction is that humans and robots work cooperatively, and robots should give proper assistance to humans for achieving a goal. In the workspace there are several objects including tools and a robot should identify the human intended objects or tools. There might be situational differences between a robot’s perspective and a human perspective because of several obstacles in environment. Thus, a robot needs to take the human perspective and simulates the situation from the human perspective to identify the human intended object. For human perspective taking, first of all a robot needs to check its own visibility for the environment. To address this challenge, this paper develops a 3D visibility check method by using a depth image in Webots. By using the developed method, a robot can determine whether each point in the environment is visible or invisible at its posture and detect objects if they are visible.
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Han, JH., Kim, JH. (2015). 3D Visibility Check in Webots for Human Perspective Taking in Human-Robot Interaction. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_24
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DOI: https://doi.org/10.1007/978-3-319-16841-8_24
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
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