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This paper presents Diver Interest via Pointing in Three Dimensions (DIP-3D),a method to relay an object of interest from a diver to an autonomousunderwater vehicle (AUV) by pointing that includes three-dimensional distanceinformation to discriminate between multiple objects in the AUV's camera image.Traditional dense stereo vision for distance estimation underwater ischallenging because of the relative lack of saliency of scene features anddegraded lighting conditions. Yet, including distance information is necessaryfor robotic perception of diver pointing when multiple objects appear withinthe robot's image plane. We subvert the challenges of underwater distanceestimation by using sparse reconstruction of keypoints to perform poseestimation on both the left and right images from the robot's stereo camera.Triangulated pose keypoints, along with a classical object detection method,enable DIP-3D to infer the location of an object of interest when multipleobjects are in the AUV's field of view. By allowing the scuba diver to point atan arbitrary object of interest and enabling the AUV to autonomously decidewhich object the diver is pointing to, this method will permit more naturalinteraction between AUVs and human scuba divers in underwater-human robotcollaborative tasks.

Diver Interest via Pointing in Three Dimensions: 3D Pointing Reconstruction for Diver-AUV Communication