Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN



+44 (0)20 7594 6300y.demiris Website




1011Electrical EngineeringSouth Kensington Campus






BibTex format

author = {Fischer, T and Demiris, Y},
doi = {10.1109/ICRA.2016.7487504},
pages = {3309--3316},
publisher = {IEEE},
title = {Markerless Perspective Taking for Humanoid Robots in Unconstrained Environments},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - Perspective taking enables humans to imagine the world from another viewpoint. This allows reasoning about the state of other agents, which in turn is used to more accurately predict their behavior. In this paper, we equip an iCub humanoid robot with the ability to perform visuospatial perspective taking (PT) using a single depth camera mounted above the robot. Our approach has the distinct benefit that the robot can be used in unconstrained environments, as opposed to previous works which employ marker-based motion capture systems. Prior to and during the PT, the iCub learns the environment, recognizes objects within the environment, and estimates the gaze of surrounding humans. We propose a new head pose estimation algorithm which shows a performance boost by normalizing the depth data to be aligned with the human head. Inspired by psychological studies, we employ two separate mechanisms for the two different types of PT. We implement line of sight tracing to determine whether an object is visible to the humans (level 1 PT). For more complex PT tasks (level 2 PT), the acquired point cloud is mentally rotated, which allows algorithms to reason as if the input data was acquired from an egocentric perspective. We show that this can be used to better judge where object are in relation to the humans. The multifaceted improvements to the PT pipeline advance the state of the art, and move PT in robots to markerless, unconstrained environments.
AU - Fischer,T
AU - Demiris,Y
DO - 10.1109/ICRA.2016.7487504
EP - 3316
PY - 2016///
SP - 3309
TI - Markerless Perspective Taking for Humanoid Robots in Unconstrained Environments
UR -
UR -
UR -
ER -