Visual gesture recognition for human-machine interface of robot teleoperation

This paper presents a new visual gesture recognition method for the human-machine interface of mobile robot teleoperation. The interface uses seven static hand gestures, each of which represents an individual control command for the motion control of the remote robot. All the important aspects to develop such an interface are explored, including image acquisition, adaptive object segmentation with color image in RGB, HLS representation, morphological filtering, hand finding and labeling, and recognition with edge codes, template matching, and skeletonizing. By choosing processing methods and procedures properly, a higher ratio of correct recognition and a faster speed are achieved from the experiments.

[1]  Scott E. Umbaugh,et al.  Computer Vision and Image Processing: A Practical Approach Using CVIPTools , 1997 .

[2]  Terrence Fong,et al.  Novel interfaces for remote driving: gesture, haptic, and PDA , 2001, SPIE Optics East.

[3]  Linda G. Shapiro,et al.  Computer and Robot Vision , 1991 .

[4]  Lars Bretzner,et al.  A Prototype System for Computer Vision Based Human Computer Interaction , 2001 .

[5]  Kirsti Grobel,et al.  Video-Based Sign Language Recognition Using Hidden Markov Models , 1997, Gesture Workshop.

[6]  Jochen Triesch,et al.  Robust classification of hand postures against complex backgrounds , 1996, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition.

[7]  Horst-Michael Groß,et al.  Neural Architecture for Gesture-Based Human-Machine-Interaction , 1997, Gesture Workshop.

[8]  Michel Beaudouin-Lafon,et al.  Charade: remote control of objects using free-hand gestures , 1993, CACM.

[9]  Gerhard Rigoll,et al.  High Performance Real-Time Gesture Recognition Using Hidden Markov Models , 1997, Gesture Workshop.

[10]  Yangsheng Xu,et al.  Online, interactive learning of gestures for human/robot interfaces , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[11]  Michael Vande Weghe,et al.  An architecture for gesture-based control of mobile robots , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[12]  Emanuele Trucco,et al.  Computer and Robot Vision , 1995 .

[13]  Milyn C. Moy.  Gesture-Based Interaction with a Pet Robot , 1999, AAAI/IAAI.