Robot with hand-object movement correlations for online temporal segmentation of movement tasks

摘要

The invention relates to a method for segmenting a visually sensed data stream in time segments, the method comprising the steps of:
- visually sensing a human or non-human teacher manipulating an object,
- computing a correspondence value representing the correspondence between positions and/or movements or derivatives thereof of at least two of the following elements:
i.) the teacher's manipulating means,
ii.) the teacher's head and
iii.) the object, and
- starting and ending a time segment of the input stream for periods in which the correspondence value exceeds a preset threshold value.