A new dynamic edge detection toward better human-robot interaction

Abdul Rahman Hafiz, Fady Alnajjar, Kazuyuki Murase

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


Robot's vision plays a significant role in human-robot interaction, e.g., face recognition, expression understanding, motion tracking, etc. Building a strong vision system for the robot, therefore, is one of the fundamental issues behind the success of such an interaction. Edge detection, which is known as the basic units for measuring the strength of any vision system, has recently been taken attention from many groups of robotic researchers. Most of the reported works surrounding this issue have been based on designing a static mask, which sequentially move through the pixels in the image to extract edges. Despite the success of these works, such statically could restrict the model's performance in some domains. Designing a dynamic mask by the inspiration from the basic principle of "retina", and which supported by a unique distribution of photoreceptor, therefore, could overcome this problem. A human-like robot (RobovieR-2) has been used to examine the validity of the proposed model. The experimental results show the validity of the model, and it is ability to offer a number of advantages to the robot, such as: accurate edge detection and better attention to the front user, which is a step towards human-robot interaction.

Original languageEnglish
Title of host publicationAdvances in Robotics - FIRA RoboWorld Congress 2009, Proceedings
Number of pages9
Publication statusPublished - 2009
Externally publishedYes
EventFIRA RoboWorld Congress 2009 - Incheon, Korea, Republic of
Duration: Aug 16 2009Aug 20 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5744 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceFIRA RoboWorld Congress 2009
Country/TerritoryKorea, Republic of


  • Biological inspired retina
  • Edge detection
  • Human-robot interaction

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


Dive into the research topics of 'A new dynamic edge detection toward better human-robot interaction'. Together they form a unique fingerprint.

Cite this