标题： 通过指向的差异兴趣：人类引导的AUV目标检查 显示英文标题

标题： Diver Interest via Pointing: Human-Directed Object Inspection for AUVs

摘要： 在本文中，我们提出了通过指指点的差异兴趣（DIP）算法，这是一种高度模块化的方法，用于通过指指点手势将潜水员的兴趣区域传达给自主水下机器人（AUV），以实现水下人机协作任务。 DIP 使用单目摄像头，并利用人体姿态，即使在完全潜水装备的情况下，也能提取水下人类指指点姿态及其方向。 通过基于人体姿态和指指点方向上的显著特征点密度提取二维场景几何结构，使用低级特征检测器，DIP 算法能够定位潜水员指示的兴趣目标。 显示英文摘要

摘要： In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses and their directions. By extracting 2D scene geometry based on the human body pose and density of salient feature points along the direction of pointing, using a low-level feature detector, the DIP algorithm is able to locate objects of interest as indicated by the diver.