A Study on Robotic Attention for Action Detection based on Scanpath Theory

• Project/Area Number: 20500182
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Tohoku Institute of Technology
• Principal Investigator: FUJITA Toyomi Tohoku Institute of Technology, 工学部・知能エレクトロニクス学科, 准教授 (90293141)
• Project Period (FY): 2008 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2009: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2008: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: ロボット注視機能 / Scanpath / 関心領域 / 眼球運動 / 他者動作検知 / ロボット視覚 / 注視機能 / 他者動作認識

Research Abstract

This study investigated human visual scanpath features in a scene of robot hand movement. Human regions-of-interest (hROIs) were measured in psychophysical experiments and compared using a positional similarity index on the basis of scanpath theory. Results showed consistent hROI loci due to dominant top-down active looking in such a scene. This study also presented a method for detecting hROIs which used both bottom-up and top-down image processing algorithms (IPAs). Algorithmic regions-of-interest (aROIs) generated by this method were compared to the hROIs. The results showed that the IPAs have a high ability to predict hROIs and to detect actions of a partner robot.

Research Products

• [Journal Article] Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement (2009)
  • Author(s): Toyomi Fujita, Claudio M. Privitera
  • Journal Title: Journal of Robotics and Mechatronics Vol.21 No.6 Pages: 765-772
  • Peer Reviewed
• [Journal Article] 作業移動ロボットの手先動作時の関心領域の特性と検出 (2009)
  • Author(s): 藤田豊己
  • Journal Title: 東北工業大学紀要 I 理工学編 第29号 Pages: 31-37
  • NAID: 40016669193
  • Peer Reviewed
• [Journal Article] Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement (2009)
  • Author(s): Toyomi Fujita
  • Journal Title: Journal of Robotics and Mechatronics 21 Pages: 765-772
  • Peer Reviewed
• [Journal Article] 作業移動ロボットの手先動作時の関心領域の特性と検出 (2009)
  • Author(s): 藤田豊己
  • Journal Title: 東北工業大学紀要I理工学編 第29号 Pages: 31-37
  • NAID: 40016669193
  • Peer Reviewed
• [Presentation] Bottom-up Regions-of-Interest in Observation of Robot Hand Movement: Comparisons with Human Experiments (2010)
  • Author(s): 藤田豊己
  • Organizer: The 2010 IEEE International Conference on Systems, Man, and Cybernetics(SMC 2010)
  • Place of Presentation: Istanbul, Turkey
  • Year and Date: 2010-10-12
• [Presentation] Bottom-up Regions-of-Interest in Observation of Robot Hand Movement : Comparisons with Human Experiments (2010)
  • Author(s): Toyomi Fujita
  • Organizer: The 2010 IEEE International Conference on Systems, Man, and Cybernetics(SMC 2010)
  • Place of Presentation: Istanbul, Turkey
  • Year and Date: 2010-10-12
• [Presentation] Loci-Similarity and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement (2010)
  • Author(s): 藤田豊己
  • Organizer: The 2010 International Symposium on Intelligent Systems (iFAN 2010)
  • Place of Presentation: Tokyo Metropolitan University, Tokyo
  • Year and Date: 2010-09-26
• [Presentation] Loci-Similarity and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement (2010)
  • Author(s): Toyomi Fujita
  • Organizer: The 2010 International Symposium on Intelligent Systems(iFAN 2010)
  • Place of Presentation: Tokyo Metropolitan University, Tokyo
  • Year and Date: 2010-09-26
• [Presentation] 移動ロボット手先動作時の関心領域特性と検出 (2010)
  • Author(s): 藤田豊己
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010(ROBOMEC2010)
  • Place of Presentation: 旭川大雪アリーナ(旭川市)
  • Year and Date: 2010-06-16
• [Presentation] ロボット手先動画像観察時の注視位置計測 (2010)
  • Author(s): 千葉和也
  • Organizer: 平成22年東北地区若手研究者研究発表会
  • Place of Presentation: 東北学院大学(仙台)
  • Year and Date: 2010-02-26
• [Presentation] 移動ロボット手先動作時の関心領域特性と検出 (2010)
  • Author(s): 藤田豊己
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010 (ROBOMEC2010)
  • Place of Presentation: 旭川大雪アリーナ(旭川市)
• [Presentation] ロボット手先動作画像観察時の注視位置特性 (2009)
  • Author(s): 千葉和也, 藤田豊己
  • Organizer: 第19回インテリジェント・システム・シンポジウム(FAN Symposium '09)
  • Place of Presentation: 会津大学
  • Year and Date: 2009-09-17
• [Presentation] ロボット手先動作画像観察時の注視位置特性 (2009)
  • Author(s): 千葉和也
  • Organizer: 第19回インテリジェント・システム・シンポジウム(FANSymposium09)
  • Place of Presentation: 会津大学
  • Year and Date: 2009-09-17
• [Presentation] スキャンパス理論に基づく移動ロボットの手先動作時の関心領域特性と検出特性 (2009)
  • Author(s): 藤田豊己
  • Organizer: FIT2009(第8回情報科学技術フォーラム)
  • Place of Presentation: 東北工業大学
  • Year and Date: 2009-09-04
• [Presentation] スキャンパス理論に基づく移動ロボットの手先動作時の関心領域特性と検出特性 (2009)
  • Author(s): 藤田豊己
  • Organizer: FIT2009(第8回情報科学技術フォーラム)
  • Place of Presentation: 東北工業大学(仙台)
  • Year and Date: 2009-09-04
• [Presentation] ロボット動作画像観察時の注視点の計測 (2009)
  • Author(s): 千葉和也
  • Organizer: FIT2009(第8回情報科学技術フォーラム)
  • Place of Presentation: 東北工業大学(仙台)
  • Year and Date: 2009-09-02
• [Presentation] Scanpath理論に基づく移動ロボット手先動作時の関心領域特性 (2009)
  • Author(s): 藤田豊己
  • Organizer: ロボティクス・メカトロニクス講演会09
  • Place of Presentation: 福岡国際会議場
  • Year and Date: 2009-05-25
• [Presentation] ロボットの他者動作理解のための関心領域の検出 (2009)
  • Author(s): 藤田豊己
  • Organizer: 電子情報通信学会東北支部先端技術シンポジウム
  • Place of Presentation: 東北工業大学(仙台)
  • Year and Date: 2009-03-16
• [Presentation] 移動ロボットの手先動作時の関心領域特性と画像処理による検出 (2009)
  • Author(s): 藤田豊己
  • Organizer: 電気通信大学大学院I Sシンポジウム第16回「Sensing and Perception」
  • Place of Presentation: 電気通信大学(調布)
  • Year and Date: 2009-02-26
• [Presentation] Consistency and Predictability of Visual Regions-of-Tnterest to Image Types (2008)
  • Author(s): Toyoni Fujita
  • Organizer: 5th Asia-Pacific Conference on Vision
  • Place of Presentation: Brisbane, Australia
  • Year and Date: 2008-07-19
• [Remarks] ホームページ等
• [Remarks]
  • URL: http://www.tohtech.ac.jp/~elecs/ca/fujitalab_hp/research/scanpath_hndmv.html