RGBD Human-Hand recognition for the Interaction with Robot-Hand

Please use this identifier to cite or link to this item: http://hdl.handle.net/10045/45468
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Title: RGBD Human-Hand recognition for the Interaction with Robot-Hand
Authors: Mateo Agulló, Carlos | Gil, Pablo | Corrales Ramón, Juan Antonio | Puente Méndez, Santiago T. | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: RGBD | Robotics | Robot vision | Hand detection | 3D | Interaction human robot
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 7-Oct-2012
Publisher: IEEE
Citation: Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshops and Tutorials, Vilamoura, Algarve, Portugal, 7-12 Oct. 2012. Jorge Lobo, Peter Corke, Radu B. Rusu (Eds.). IEEE, 2012, 6 p.
Abstract: New low cost sensors and the new open free libraries for 3D image processing are permitting to achieve important advances for robot vision applications such as tridimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a method to recognize the human hand and to track the fingers is proposed. This new method is based on point clouds from range images, RGBD. It does not require visual marks, camera calibration, environment knowledge and complex expensive acquisition systems. Furthermore, this method has been implemented to create a human interface in order to move a robot hand. The human hand is recognized and the movement of the fingers is analyzed. Afterwards, it is imitated from a Barret hand, using communication events programmed from ROS.
Sponsor: This work was supported in part by the Valencia Regional Government and the Research and Innovation Vice-president Office of the University of Alicante for their financial support through the projects GV2012/102 and GRE10-16, respectively.
URI: http://hdl.handle.net/10045/45468
ISBN: 978-972-8822-26-2
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © IEEE 2012
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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