论文标题
通过指向的潜水员兴趣：对AUV的人为指导对象检查
Diver Interest via Pointing: Human-Directed Object Inspection for AUVs
论文作者
论文摘要
在本文中，我们通过指向（DIP）算法介绍了潜水员的兴趣，这是一种高度模块化的方法，用于将潜水员感兴趣的领域传达给自动水下汽车（AUV）（AUV），该方法使用指向水下人类 - 人类机器人协作任务的手势。 DIP使用单眼摄像机，即使有完整的潜水齿轮，也可以利用人体姿势来提取水下人体指向姿势及其方向。通过使用低级特征检测器提取沿指向方向的人体姿势和显着特征点的密度提取2D场景几何形状，DIP算法可以定位潜水员指示的感兴趣的对象。
In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses and their directions. By extracting 2D scene geometry based on the human body pose and density of salient feature points along the direction of pointing, using a low-level feature detector, the DIP algorithm is able to locate objects of interest as indicated by the diver.
