Testing Human-Hand Segmentation on In-Distribution and Out-of-Distribution Data in Human-Robot Interactions Using a Deep Ensemble Model
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866915365788844032 |
|---|---|
| author | Jalayer, Reza Chen, Yuxin Jalayer, Masoud Orsenigo, Carlotta Tomizuka, Masayoshi |
| author_facet | Jalayer, Reza Chen, Yuxin Jalayer, Masoud Orsenigo, Carlotta Tomizuka, Masayoshi |
| contents | Reliable detection and segmentation of human hands are critical for enhancing safety and facilitating advanced interactions in human-robot collaboration. Current research predominantly evaluates hand segmentation under in-distribution (ID) data, which reflects the training data of deep learning (DL) models. However, this approach fails to address out-of-distribution (OOD) scenarios that often arise in real-world human-robot interactions. In this study, we present a novel approach by evaluating the performance of pre-trained DL models under both ID data and more challenging OOD scenarios. To mimic realistic industrial scenarios, we designed a diverse dataset featuring simple and cluttered backgrounds with industrial tools, varying numbers of hands (0 to 4), and hands with and without gloves. For OOD scenarios, we incorporated unique and rare conditions such as finger-crossing gestures and motion blur from fast-moving hands, addressing both epistemic and aleatoric uncertainties. To ensure multiple point of views (PoVs), we utilized both egocentric cameras, mounted on the operator's head, and static cameras to capture RGB images of human-robot interactions. This approach allowed us to account for multiple camera perspectives while also evaluating the performance of models trained on existing egocentric datasets as well as static-camera datasets. For segmentation, we used a deep ensemble model composed of UNet and RefineNet as base learners. Performance evaluation was conducted using segmentation metrics and uncertainty quantification via predictive entropy. Results revealed that models trained on industrial datasets outperformed those trained on non-industrial datasets, highlighting the importance of context-specific training. Although all models struggled with OOD scenarios, those trained on industrial datasets demonstrated significantly better generalization. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_07713 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Testing Human-Hand Segmentation on In-Distribution and Out-of-Distribution Data in Human-Robot Interactions Using a Deep Ensemble Model Jalayer, Reza Chen, Yuxin Jalayer, Masoud Orsenigo, Carlotta Tomizuka, Masayoshi Computer Vision and Pattern Recognition Human-Computer Interaction Machine Learning Robotics Reliable detection and segmentation of human hands are critical for enhancing safety and facilitating advanced interactions in human-robot collaboration. Current research predominantly evaluates hand segmentation under in-distribution (ID) data, which reflects the training data of deep learning (DL) models. However, this approach fails to address out-of-distribution (OOD) scenarios that often arise in real-world human-robot interactions. In this study, we present a novel approach by evaluating the performance of pre-trained DL models under both ID data and more challenging OOD scenarios. To mimic realistic industrial scenarios, we designed a diverse dataset featuring simple and cluttered backgrounds with industrial tools, varying numbers of hands (0 to 4), and hands with and without gloves. For OOD scenarios, we incorporated unique and rare conditions such as finger-crossing gestures and motion blur from fast-moving hands, addressing both epistemic and aleatoric uncertainties. To ensure multiple point of views (PoVs), we utilized both egocentric cameras, mounted on the operator's head, and static cameras to capture RGB images of human-robot interactions. This approach allowed us to account for multiple camera perspectives while also evaluating the performance of models trained on existing egocentric datasets as well as static-camera datasets. For segmentation, we used a deep ensemble model composed of UNet and RefineNet as base learners. Performance evaluation was conducted using segmentation metrics and uncertainty quantification via predictive entropy. Results revealed that models trained on industrial datasets outperformed those trained on non-industrial datasets, highlighting the importance of context-specific training. Although all models struggled with OOD scenarios, those trained on industrial datasets demonstrated significantly better generalization. |
| title | Testing Human-Hand Segmentation on In-Distribution and Out-of-Distribution Data in Human-Robot Interactions Using a Deep Ensemble Model |
| topic | Computer Vision and Pattern Recognition Human-Computer Interaction Machine Learning Robotics |
| url | https://arxiv.org/abs/2501.07713 |