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http://dx.doi.org/10.5391/JKIIS.2017.27.2.126

An Extraction Method of Meaningful Hand Gesture for a Robot Control  

Kim, Aram (Dept of IT Convergence Engineering, Kyungnam University)
Rhee, Sang-Yong (Dept of Computer Engineering, Kyungnam University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.27, no.2, 2017 , pp. 126-131 More about this Journal
Abstract
In this paper, we propose a method to extract meaningful motion among various kinds of hand gestures on giving commands to robots using hand gestures. On giving a command to the robot, the hand gestures of people can be divided into a preparation one, a main one, and a finishing one. The main motion is a meaningful one for transmitting a command to the robot in this process, and the other operation is a meaningless auxiliary operation to do the main motion. Therefore, it is necessary to extract only the main motion from the continuous hand gestures. In addition, people can move their hands unconsciously. These actions must also be judged by the robot with meaningless ones. In this study, we extract human skeleton data from a depth image obtained by using a Kinect v2 sensor and extract location data of hands data from them. By using the Kalman filter, we track the location of the hand and distinguish whether hand motion is meaningful or meaningless to recognize the hand gesture by using the hidden markov model.
Keywords
Robot Control; Meaningful Gesture; Fuzzy Theory; Gesture Recognition; Depth Image;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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