3D visual sensing of human hand for remote operation of a robotic hand
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Título: | 3D visual sensing of human hand for remote operation of a robotic hand |
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Autor/es: | Gil, Pablo | Mateo Agulló, Carlos | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | RGBD | Kinect | Hand recognition | Interaction human-robot |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 2014 |
Editor: | InTech |
Cita bibliográfica: | Pablo Gil, Carlos Mateo and Fernando Torres. 3D Visual Sensing of the Human Hand for the Remote Operation of a Robotic Hand. Int J Adv Robot Syst, 2014, 11:26. doi:10.5772/57525 |
Resumen: | New low cost sensors and open free libraries for 3D image processing are making important advances in robot vision applications possible, such as three-dimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a novel method for recognizing and tracking the fingers of a human hand is presented. This method is based on point clouds from range images captured by a RGBD sensor. It works in real time and it does not require visual marks, camera calibration or previous knowledge of the environment. Moreover, it works successfully even when multiple objects appear in the scene or when the ambient light is changed. Furthermore, this method was designed to develop a human interface to control domestic or industrial devices, remotely. In this paper, the method was tested by operating a robotic hand. Firstly, the human hand was recognized and the fingers were detected. Secondly, the movement of the fingers was analysed and mapped to be imitated by a robotic hand. |
Patrocinador/es: | The research leading to these results received funding from the Spanish Government and European FEDER funds (DPI2012-32390) and the Valencia Regional Government (GV2012/102 and PROMETEO/2013/085). |
URI: | http://hdl.handle.net/10045/35735 |
ISSN: | 1729-8806 (Print) | 1729-8814 (Online) |
DOI: | 10.5772/57525 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2014 The Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.5772/57525 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas |
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