Physical Human–Robot Cooperation Based on Robust Motion Intention Estimation

Estimating Physical Camera Parameters based on Multi-Sprite Motion Estimation

Global-motion estimation algorithms as they are employed in the MPEG-4 or H.264 video coding standards describe motion with a set of abstract parameters. These parameters model the camera motion, but they cannot be directly related to a physical meaning like rotation angles or the focal-length. We present a two step algorithm to factorize these abstract parameters into physically meaningful ope...

Robust ego-motion estimation

This paper aims to develop a simple algorithm for determining the direction of ego-motion of a monocular observer in a static environment. Rather than returning a single direction the algorithm returns a set of motion directions known to contain the true direct tion. Translational motion can be arbitrary. The algorithm is based on one invented by Horn and Weldon [1]. It uses only normal compone...

Corpus-Based Intention Recognition in Cooperation Dilemmas

Intention recognition is ubiquitous in most social interactions among humans and other primates. Despite this, the role of intention recognition in the emergence of cooperative actions remains elusive. Resorting to the tools of evolutionary game theory, herein we describe a computational model showing how intention recognition coevolves with cooperation in populations of self-regarding individu...

Robust Estimation for Motion Parameters

The performance of least squares method ca'n be improved by changing the error metric so that points which lie far from the bulk of data do not influence the final value—that is to reject the outliers. In this paper, the combination of two robust estimators are used to obtain motion parameters of a camera from matched image features. Results obtained show that the robust estimator has the abili...

Robust Motion Estimation Using Spatialgabor