Motion Capture from Demonstrator's Viewpoint and Its Application to Robot Teaching

In this papec we propose a kind of “teaching by demonstration” method, aiming at its application to humanoid robots at home in the future. The demonstrator’s motion is captured by a pair of stereo cameras mounted on hisher head, locating very close to hisher eyes. By tracking the landmarks attached to the demonstrator’s hand and the working environment, one can estimate not only the demonstrator’s hand motion but also hisher head motion, which can be used for the active vision system. Experimental result shows the effectiveness of the proposed framework.