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Mobile Robot Control using Hand Shape Recognition  

Kim, Young-Rae (Dept. of advanced technology fusion, school of Internet and multimedia Eng., Konkuk Univ.)
Kim, Eun-Yi (Dept. of advanced technology fusion, school of Internet and multimedia Eng., Konkuk Univ.)
Chang, Jae-Sik (Samsung Electronics and Telecommunications Research Institute)
Park, Se-Hyun (School of Computer and Communication Engineering, Daegu Univ.)
Publication Information
Journal of the Institute of Electronics Engineers of Korea CI / v.45, no.4, 2008 , pp. 34-40 More about this Journal
Abstract
This paper presents a vision based walking robot control system using hand shape recognition. To recognize hand shapes, the accurate hand boundary needs to be tracked in image obtained from moving camera. For this, we use an active contour model-based tracking approach with mean shift which reduces dependency of the active contour model to location of initial curve. The proposed system is composed of four modules: a hand detector, a hand tracker, a hand shape recognizer and a robot controller. The hand detector detects a skin color region, which has a specific shape, as hand in an image. Then, the hand tracking is performed using an active contour model with mean shift. Thereafter the hand shape recognition is performed using Hue moments. To assess the validity of the proposed system we tested the proposed system to a walking robot, RCB-1. The experimental results show the effectiveness of the proposed system.
Keywords
Robot control; hand shape recognition; object tracking; active contour; mean-shift;
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