• Title/Summary/Keyword: skeleton extraction

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An Extraction Method of Meaningful Hand Gesture for a Robot Control (로봇 제어를 위한 의미 있는 손동작 추출 방법)

  • Kim, Aram;Rhee, Sang-Yong
    • Journal of the Korean Institute of Intelligent Systems
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    • v.27 no.2
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    • pp.126-131
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    • 2017
  • 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.

CLEIDOCRANIAL DYSPLASIA : A PRELIMINARY REPORT (쇄골 두개골 이골증)

  • Kim, Il-Kyu;Ha, Soo-Yong;Lee, Seong-Jun
    • Maxillofacial Plastic and Reconstructive Surgery
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    • v.13 no.1
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    • pp.69-76
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    • 1991
  • A 9-year old boy suffering from cleidocranial dysplasia associated with impacted 4 supernumerary teeth and unerupted all permanent teeth is presented with his mother. The pedigree showed autosomal dominant pattern of inheritance, and the raiographic features of them were very similar in clavicle, skull, vertebrae, peivis and extremities. Although almost of the skeleton was involved with this syndrome, they did not recognize any other problem but except dental problem. In mother, who was wearing removable partial dentures leaving 24 impacted teeth in her jaws, the radiographic abnormalities like cystic lesion were not detected. And in the son, who showed impacted 4 supernumerary and all permanent teeth, we have attempted surgical extraction of the supernumerary teeth and periodic surgical opening of the alveolar bone covering the permanent dentition to induce the eruption of permanent teeth at the proper position, Orthodontic treatment has also been combined to correct class III malocclusion state.

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Sign Language Recognition System Using SVM and Depth Camera (깊이 카메라와 SVM을 이용한 수화 인식 시스템)

  • Kim, Ki-Sang;Choi, Hyung-Il
    • Journal of the Korea Society of Computer and Information
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    • v.19 no.11
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    • pp.63-72
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    • 2014
  • In this paper, we propose a sign language recognition system using SVM and depth camera. Especially, we focus on the Korean sign language. For the sign language system, we suggest two methods, one in hand feature extraction stage and the other in recognition stage. Hand features are consisted of the number of fingers, finger length, radius of palm, and direction of the hand. To extract hand features, we use Distance Transform and make hand skeleton. This method is more accurate than a traditional method which uses contours. To recognize hand posture, we develop the decision tree with the hand features. For more accuracy, we use SVM to determine the threshold value in the decision tree. In the experimental results, we show that the suggested method is more accurate and faster when extracting hand features a recognizing hand postures.

Robust Estimation of Hand Poses Based on Learning (학습을 이용한 손 자세의 강인한 추정)

  • Kim, Sul-Ho;Jang, Seok-Woo;Kim, Gye-Young
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.23 no.12
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    • pp.1528-1534
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    • 2019
  • Recently, due to the popularization of 3D depth cameras, new researches and opportunities have been made in research conducted on RGB images, but estimation of human hand pose is still classified as one of the difficult topics. In this paper, we propose a robust estimation method of human hand pose from various input 3D depth images using a learning algorithm. The proposed approach first generates a skeleton-based hand model and then aligns the generated hand model with three-dimensional point cloud data. Then, using a random forest-based learning algorithm, the hand pose is strongly estimated from the aligned hand model. Experimental results in this paper show that the proposed hierarchical approach makes robust and fast estimation of human hand posture from input depth images captured in various indoor and outdoor environments.

A Study on the Estimation of Multi-Object Social Distancing Using Stereo Vision and AlphaPose (Stereo Vision과 AlphaPose를 이용한 다중 객체 거리 추정 방법에 관한 연구)

  • Lee, Ju-Min;Bae, Hyeon-Jae;Jang, Gyu-Jin;Kim, Jin-Pyeong
    • KIPS Transactions on Software and Data Engineering
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    • v.10 no.7
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    • pp.279-286
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    • 2021
  • Recently, We are carrying out a policy of physical distancing of at least 1m from each other to prevent the spreading of COVID-19 disease in public places. In this paper, we propose a method for measuring distances between people in real time and an automation system that recognizes objects that are within 1 meter of each other from stereo images acquired by drones or CCTVs according to the estimated distance. A problem with existing methods used to estimate distances between multiple objects is that they do not obtain three-dimensional information of objects using only one CCTV. his is because three-dimensional information is necessary to measure distances between people when they are right next to each other or overlap in two dimensional image. Furthermore, they use only the Bounding Box information to obtain the exact coordinates of human existence. Therefore, in this paper, to obtain the exact two-dimensional coordinate value in which a person exists, we extract a person's key point to detect the location, convert it to a three-dimensional coordinate value using Stereo Vision and Camera Calibration, and estimate the Euclidean distance between people. As a result of performing an experiment for estimating the accuracy of 3D coordinates and the distance between objects (persons), the average error within 0.098m was shown in the estimation of the distance between multiple people within 1m.

Vector-Based Data Augmentation and Network Learning for Efficient Crack Data Collection (효율적인 균열 데이터 수집을 위한 벡터 기반 데이터 증강과 네트워크 학습)

  • Kim, Jong-Hyun
    • Journal of the Korea Computer Graphics Society
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    • v.28 no.2
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    • pp.1-9
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    • 2022
  • In this paper, we propose a vector-based augmentation technique that can generate data required for crack detection and a ConvNet(Convolutional Neural Network) technique that can learn it. Detecting cracks quickly and accurately is an important technology to prevent building collapse and fall accidents in advance. In order to solve this problem with artificial intelligence, it is essential to obtain a large amount of data, but it is difficult to obtain a large amount of crack data because the situation for obtaining an actual crack image is mostly dangerous. This problem of database construction can be alleviated with elastic distortion, which increases the amount of data by applying deformation to a specific artificial part. In this paper, the improved crack pattern results are modeled using ConvNet. Rather than elastic distortion, our method can obtain results similar to the actual crack pattern. By designing the crack data augmentation based on a vector, rather than the pixel unit used in general data augmentation, excellent results can be obtained in terms of the amount of crack change. As a result, in this paper, even though a small number of crack data were used as input, a crack database can be efficiently constructed by generating various crack directions and patterns.

Sesquiterpenoids Bioconversion Analysis by Wood Rot Fungi

  • Lee, Su-Yeon;Ryu, Sun-Hwa;Choi, In-Gyu;Kim, Myungkil
    • 한국균학회소식:학술대회논문집
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    • 2016.05a
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    • pp.19-20
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    • 2016
  • Sesquiterpenoids are defined as $C_{15}$ compounds derived from farnesyl pyrophosphate (FPP), and their complex structures are found in the tissue of many diverse plants (Degenhardt et al. 2009). FPP's long chain length and additional double bond enables its conversion to a huge range of mono-, di-, and tri-cyclic structures. A number of cyclic sesquiterpenes with alcohol, aldehyde, and ketone derivatives have key biological and medicinal properties (Fraga 1999). Fungi, such as the wood-rotting Polyporus brumalis, are excellent sources of pharmaceutically interesting natural products such as sesquiterpenoids. In this study, we investigated the biosynthesis of P. brumalis sesquiterpenoids on modified medium. Fungal suspensions of 11 white rot species were inoculated in modified medium containing $C_6H_{12}O_6$, $C_4H_{12}N_2O_6$, $KH_2PO_4$, $MgSO_4$, and $CaCl_2$ for 20 days. Cultivation was stopped by solvent extraction via separation of the mycelium. The metabolites were identified as follows: propionic acid (1), mevalonic acid lactone (2), ${\beta}$-eudesmane (3), and ${\beta}$-eudesmol (4), respectively (Figure 1). The main peaks of ${\beta}$-eudesmane and ${\beta}$-eudesmol, which were indicative of sesquiterpene structures, were consistently detected for 5, 7, 12, and 15 days These results demonstrated the existence of terpene metabolism in the mycelium of P. brumalis. Polyporus spp. are known to generate flavor components such as methyl 2,4-dihydroxy-3,6-dimethyl benzoate; 2-hydroxy-4-methoxy-6-methyl benzoic acid; 3-hydroxy-5-methyl phenol; and 3-methoxy-2,5-dimethyl phenol in submerged cultures (Hoffmann and Esser 1978). Drimanes of sesquiterpenes were reported as metabolites from P. arcularius and shown to exhibit antimicrobial activity against Gram-positive bacteria such as Staphylococcus aureus (Fleck et al. 1996). The main metabolites of P. brumalis, ${\beta}$-Eudesmol and ${\beta}$-eudesmane, were categorized as eudesmane-type sesquiterpene structures. The eudesmane skeleton could be biosynthesized from FPP-derived IPP, and approximately 1,000 structures have been identified in plants as essential oils. The biosynthesis of eudesmol from P. brumalis may thus be an important tool for the production of useful natural compounds as presumed from its identified potent bioactivity in plants. Essential oils comprising eudesmane-type sesquiterpenoids have been previously and extensively researched (Wu et al. 2006). ${\beta}$-Eudesmol is a well-known and important eudesmane alcohol with an anticholinergic effect in the vascular endothelium (Tsuneki et al. 2005). Additionally, recent studies demonstrated that ${\beta}$-eudesmol acts as a channel blocker for nicotinic acetylcholine receptors at the neuromuscular junction, and it can inhibit angiogenesis in vitro and in vivo by blocking the mitogen-activated protein kinase (MAPK) signaling pathway (Seo et al. 2011). Variation of nutrients was conducted to determine an optimum condition for the biosynthesis of sesquiterpenes by P. brumalis. Genes encoding terpene synthases, which are crucial to the terpene synthesis pathway, generally respond to environmental factors such as pH, temperature, and available nutrients (Hoffmeister and Keller 2007, Yu and Keller 2005). Calvo et al. described the effect of major nutrients, carbon and nitrogen, on the synthesis of secondary metabolites (Calvo et al. 2002). P. brumalis did not prefer to synthesize sesquiterpenes under all growth conditions. Results of differences in metabolites observed in P. brumalis grown in PDB and modified medium highlighted the potential effect inorganic sources such as $C_4H_{12}N_2O_6$, $KH_2PO_4$, $MgSO_4$, and $CaCl_2$ on sesquiterpene synthesis. ${\beta}$-eudesmol was apparent during cultivation except for when P. brumalis was grown on $MgSO_4$-free medium. These results demonstrated that $MgSO_4$ can specifically control the biosynthesis of ${\beta}$-eudesmol. Magnesium has been reported as a cofactor that binds to sesquiterpene synthase (Agger et al. 2008). Specifically, the $Mg^{2+}$ ions bind to two conserved metal-binding motifs. These metal ions complex to the substrate pyrophosphate, thereby promoting the ionization of the leaving groups of FPP and resulting in the generation of a highly reactive allylic cation. Effect of magnesium source on the sesquiterpene biosynthesis was also identified via analysis of the concentration of total carbohydrates. Our current study offered further insight that fungal sesquiterpene biosynthesis can be controlled by nutrients. To profile the metabolites of P. brumalis, the cultures were extracted based on the growth curve. Despite metabolites produced during mycelia growth, there was difficulty in detecting significant changes in metabolite production, especially those at low concentrations. These compounds may be of interest in understanding their synthetic mechanisms in P. brumalis. The synthesis of terpene compounds began during the growth phase at day 9. Sesquiterpene synthesis occurred after growth was complete. At day 9, drimenol, farnesol, and mevalonic lactone (or mevalonic acid lactone) were identified. Mevalonic acid lactone is the precursor of the mevalonic pathway, and particularly, it is a precursor for a number of biologically important lipids, including cholesterol hormones (Buckley et al. 2002). Farnesol is the precursor of sesquiterpenoids. Drimenol compounds, bi-cyclic-sesquiterpene alcohols, can be synthesized from trans-trans farnesol via cyclization and rearrangement (Polovinka et al. 1994). They have also been identified in the basidiomycota Lentinus lepideus as secondary metabolites. After 12 days in the growth phase, ${\beta}$-elemene caryophyllene, ${\delta}$-cadiene, and eudesmane were detected with ${\beta}$-eudesmol. The data showed the synthesis of sesquiterpene hydrocarbons with bi-cyclic structures. These compounds can be synthesized from FPP by cyclization. Cyclic terpenoids are synthesized through the formation of a carbon skeleton from linear precursors by terpene cyclase, which is followed by chemical modification by oxidation, reduction, methylation, etc. Sesquiterpene cyclase is a key branch-point enzyme that catalyzes the complex intermolecular cyclization of the linear prenyl diphosphate into cyclic hydrocarbons (Toyomasu et al. 2007). After 20 days in stationary phase, the oxygenated structures eudesmol, elemol, and caryophyllene oxide were detected. Thus, after growth, sesquiterpenes were identified. Per these results, we showed that terpene metabolism in wood-rotting fungi occurs in the stationary phase. We also showed that such metabolism can be controlled by magnesium supplementation in the growth medium. In conclusion, we identified P. brumalis as a wood-rotting fungus that can produce sesquiterpenes. To mechanistically understand eudesmane-type sesquiterpene biosynthesis in P. brumalis, further research into the genes regulating the dynamics of such biosynthesis is warranted.

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