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    LaserDex: Improvising Spatial Tasks Using Deictic Gestures and Laser Pointing for Human–Robot Collaboration in Construction

    Source: Journal of Computing in Civil Engineering:;2024:;Volume ( 038 ):;issue: 003::page 04024012-1
    Author:
    Sungboo Yoon
    ,
    Moonseo Park
    ,
    Changbum R. Ahn
    DOI: 10.1061/JCCEE5.CPENG-5715
    Publisher: ASCE
    Abstract: In the context of the unstructured and fast-changing construction environment, the adaptability of robots to human improvisation is crucial. However, existing construction robots are limited in understanding spatial goals communicated spontaneously in the workplace and require substantial human-user training. Incorporating deictic gestures into human–robot interfaces holds promise for enhancing the intuitive operation of construction robots and for on-site collaboration. However, applying deictic gestures in precision-demanding construction tasks presents challenges because in a large-scale work environment, humans have limited accuracy in pointing at objects at a distance. This study introduces LaserDex, a novel interface for distant spatial tasking based on a global-to-local identification approach, in which the human first guides the robot toward the general area of the task using a deictic gesture and then indicates the precise area by dynamically using a laser pointer. Our user study with 11 participants demonstrated that LaserDex can achieve an intersection over union (IoU) of 0.830 when outlining a rectangular drywall opening (compared with an IoU of 0.514 for the baseline, a handheld controller), and an 11.4-mm distance error of the center of the estimated rectangle compared with the center of the targeted rectangle. The findings of this study underscore the potential of LaserDex to seamlessly combine intuitive human–robot interaction with precise robot operations.
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      LaserDex: Improvising Spatial Tasks Using Deictic Gestures and Laser Pointing for Human–Robot Collaboration in Construction

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4297343
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    contributor authorSungboo Yoon
    contributor authorMoonseo Park
    contributor authorChangbum R. Ahn
    date accessioned2024-04-27T22:43:30Z
    date available2024-04-27T22:43:30Z
    date issued2024/05/01
    identifier other10.1061-JCCEE5.CPENG-5715.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4297343
    description abstractIn the context of the unstructured and fast-changing construction environment, the adaptability of robots to human improvisation is crucial. However, existing construction robots are limited in understanding spatial goals communicated spontaneously in the workplace and require substantial human-user training. Incorporating deictic gestures into human–robot interfaces holds promise for enhancing the intuitive operation of construction robots and for on-site collaboration. However, applying deictic gestures in precision-demanding construction tasks presents challenges because in a large-scale work environment, humans have limited accuracy in pointing at objects at a distance. This study introduces LaserDex, a novel interface for distant spatial tasking based on a global-to-local identification approach, in which the human first guides the robot toward the general area of the task using a deictic gesture and then indicates the precise area by dynamically using a laser pointer. Our user study with 11 participants demonstrated that LaserDex can achieve an intersection over union (IoU) of 0.830 when outlining a rectangular drywall opening (compared with an IoU of 0.514 for the baseline, a handheld controller), and an 11.4-mm distance error of the center of the estimated rectangle compared with the center of the targeted rectangle. The findings of this study underscore the potential of LaserDex to seamlessly combine intuitive human–robot interaction with precise robot operations.
    publisherASCE
    titleLaserDex: Improvising Spatial Tasks Using Deictic Gestures and Laser Pointing for Human–Robot Collaboration in Construction
    typeJournal Article
    journal volume38
    journal issue3
    journal titleJournal of Computing in Civil Engineering
    identifier doi10.1061/JCCEE5.CPENG-5715
    journal fristpage04024012-1
    journal lastpage04024012-17
    page17
    treeJournal of Computing in Civil Engineering:;2024:;Volume ( 038 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian