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Vision-based Cleaning Area Control for Cleaning Robots
Abstract
This paper provides a vision based HCI method for a user to command a cleaning
robot to move to a specific location in home environment. Six hand poses are
detected from a video sequence taken from a camera on the cleaning robot.
AdaBoost based hand-pose detectors are trained with a reduced Haar-like feature
set to make the detectors robust to the influence of the complex background. The
first three stages of the cascade in the six detectors are used as pose estimation to
reduce the computational complexity. The cleaning area is determined from the
detected pose. The performances of the proposed detectors are validated with a set
of test images with cluttered background. The cleaning area control is simulated
with real-world video sequences. The proposed method can effectively control a
cleaning robot without the need for a user to wear or employ any input devices.
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