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Human keypoint detection for close proximity human-robot interaction

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362006" target="_blank" >RIV/68407700:21230/22:00362006 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1109/Humanoids53995.2022.10000133" target="_blank" >https://doi.org/10.1109/Humanoids53995.2022.10000133</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/Humanoids53995.2022.10000133" target="_blank" >10.1109/Humanoids53995.2022.10000133</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Human keypoint detection for close proximity human-robot interaction

  • Original language description

    We study the performance of state-of-the-art human keypoint detectors in the context of close proximity human-robot interaction. The detection in this scenario is specific in that only a subset of body parts such as hands and torso are in the field of view. In particular, (i) we survey existing datasets with human pose annotation from the perspective of close proximity images and prepare and make publicly available a new Human in Close Proximity (HiCP) dataset; (ii) we quantitatively and qualitatively compare state-of-the-art human whole-body 2D keypoint detection methods (OpenPose, MMPose, AlphaPose, Detectron2) on this dataset; (iii) since accurate detection of hands and fingers is critical in applications with handovers, we evaluate the performance of the MediaPipe hand detector; (iv) we deploy the algorithms on a humanoid robot with an RGB-D camera on its head and evaluate the performance in 3D human keypoint detection. A motion capture system is used as reference. The best performing whole-body keypoint detectors in close proximity were MMPose and AlphaPose, but both had difficulty with finger detection. Thus, we propose a combination of MMPose or AlphaPose for the body and MediaPipe for the hands in a single framework providing the most accurate and robust detection. We also analyse the failure modes of individual detectors---for example, to what extent the absence of the head of the person in the image degrades performance. Finally, we demonstrate the framework in a scenario where a humanoid robot interacting with a person uses the detected 3D keypoints for whole-body avoidance maneuvers.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

    <a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2022

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids)

  • ISBN

    979-8-3503-0979-9

  • ISSN

    2164-0572

  • e-ISSN

    2164-0580

  • Number of pages

    8

  • Pages from-to

    450-457

  • Publisher name

    IEEE

  • Place of publication

    Piscataway, NJ

  • Event location

    Okinawa

  • Event date

    Nov 28, 2022

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000925894300059