System and Method for Cooperative Remote Vehicle Behavior

• US 20080253613A1
• Filed: 04/11/2008
• Published: 10/16/2008
• Est. Priority Date: 04/11/2007
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Christopher Vernon, Loper, Matthew M., Jenkins, Odest Chadwicke
• Granted Patent: US 8,577,126 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: G10L 15/26 Speech to text systems G10L15/08 takes precedence
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A method for facilitating cooperation between humans and remote vehicles comprises creating image data, detecting humans within the image data, extracting gesture information from the image data, mapping the gesture information to a remote vehicle behavior, and activating the remote vehicle behavior. Alternatively, voice commands can by used to activate the remote vehicle behavior.

Claims

1. A system for facilitating cooperation between humans and remote vehicles, the system comprising:

a camera on the remote vehicle that creates an image;

an algorithm for detecting humans within the image; and

a trained statistical model for extracting gesture information from the image;

wherein the gesture information is mapped to a remote vehicle behavior, which is then activated.

2. The system of claim 1, wherein the algorithm is a connected components image analysis algorithm that extracts large solid objects from the image.

3. The system of claim 2, wherein humans are identified from the large solid objects using a support vector machine trained on the shape of a human.

4. The system of claim 1, wherein the trained statistical model is a trained Hidden Markov Model.

5. The system of claim 1, wherein the camera comprises a time-of-flight camera.

6. The system of claim 5, wherein the time-of-flight camera comprises a SwissRanger 3D time-of-flight camera.

7. The system of claim 1, wherein the camera is part of a stereo vision system.

8. The system of claim 7, wherein the stereo vision system comprises a Tyzx G2.

9. The system of claim 1, further comprising a wireless headset configured for use to issue voice commands.

10. The system of claim 9, wherein the voice commands are analyzed with speech recognition software and translated into discrete control commands.

11. The system of claim 9, wherein the wireless headset is a Bluetooth headset.

12. A method for facilitating cooperation between humans and remote vehicles, the method comprising:

creating image data;

detecting humans within the image data;

extracting gesture information from the image data;

mapping the gesture information to a remote vehicle behavior; and

activating the remote vehicle behavior.

13. The method of claim 12, wherein the behavior gathers data from sensors of the remote vehicle sensors and outputs one or more motion commands.

14. The method of claim 12, wherein the remote vehicle behavior includes one of person-following, obstacle-avoidance, door-breaching, u-turn, start/stop following, and manual forward drive.

15. The method of claim 14, wherein conflicts between behaviors are resolved by assigning unique priorities to each behavior.

16. The method of claim 15, wherein commands from a low priority behavior are overridden by those from a high priority behavior.

17. A method for facilitating cooperation between humans and remote vehicles, the method comprising:

issuing a voice command;

analyzing a voice command;

translating the voice command into a discrete control command;

mapping the discrete control command to a remote vehicle behavior; and

activating the remote vehicle behavior.

18. The method of claim 17, wherein voice commands are issued into a wireless headset worn by a human operator.

19. The method of claim 17, wherein an abbreviated vocabulary set limits the voice command word choice to those relevant to the remote vehicle task.

20. The method of claim 17, further comprising utilizing speech synthesis to allow the remote vehicle to communicate with an operator in a natural way.