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This paper describes a method of estimating the intention of a user's motionin a robot tele-operation scenario. One of the issues in tele-operation islatency, which occurs due to various reasons such as a slow robot motion and anarrow communication channel. An effective way of reducing the latency is toestimate the human intention of motions and to move the robot proactively. Toenable a reliable early intention estimation, we use both hand motion andobject affordances in a dual first-person vision (robot and user) with an HMD.Experimental results in an object pickup scenario show the effectiveness of themethod.

Early Estimation of User's Intention of Tele-Operation Using Object Affordance and Hand Motion in a Dual First-Person Vision