한국정보과학회:학술대회논문집 (Proceedings of the Korean Information Science Society Conference)
- 한국정보과학회 2011년도 한국컴퓨터종합학술대회논문집 Vol.38 No.1(C)
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- Pages.405-408
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- 2011
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- 1598-5164(pISSN)
입 추적을 이용한 로봇 원격 제어 시스템
Hands-free Robot Control System Using Mouth Tracking
- Wang, Liang (Inha University) ;
- Xu, Yongzhe (Inha University) ;
- Ahmed, Minhaz (Inha University) ;
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Rhee, Phill-Kyu
(Inha University)
- 발행 : 2011.06.29
초록
In this paper, we propose a robot remote control system based on mouth tracking. The main idea behind the work is to help disabled people who cannot operate a joystick or keyboard to control a robot with their hands. The mouth detection method in this paper is mainly based on the Adaboost feature detection approach. By using the proposed new Haar-like features for detecting the corner of mouth, the speed and accuracy of detection are improved. Combined with the Kalman filter, a continuous and accurate mouth tracking has been achieved. Meanwhile, the gripping commands of the robot manipulator were also achieved by the recognition of the user.s mouth shape, such as 'pout mouth' or 'grin mouth'. To assess the validity of the method, a mouth detection experiment and a robot cargo transport experiment were applied. The result indicated that the system can realize a quick and accurate mouse tracking; and the operation of the robot worked successfully in moving and bringing back items.
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