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http://dx.doi.org/10.7735/ksmte.2015.24.6.703

3D Object Location Identification Using Finger Pointing and a Robot System for Tracking an Identified Object  

Gwak, Dong-Gi (Department of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
Hwang, Soon-Chul (Department of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
Ok, Seo-Won (Department of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
Yim, Jung-Sae (Department of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
Kim, Dong Hwan (Department of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.24, no.6, 2015 , pp. 703-709 More about this Journal
Abstract
In this work, a robot aimed at grapping and delivering an object by using a simple finger-pointing command from a hand- or arm-handicapped person is introduced. In this robot system, a Leap Motion sensor is utilized to obtain the finger-motion data of the user. In addition, a Kinect sensor is also used to measure the 3D (Three Dimensional)-position information of the desired object. Once the object is pointed at through the finger pointing of the handicapped user, the exact 3D information of the object is determined using an image processing technique and a coordinate transformation between the Leap Motion and Kinect sensors. It was found that the information obtained is transmitted to the robot controller, and that the robot eventually grabs the target and delivers it to the handicapped person successfully.
Keywords
3D location identification; Object identification and tracking; Kinect and Leap Motion sensor fusion; Finger-pointing;
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