Journal of the Institute of Electronics Engineers of Korea CI (전자공학회논문지CI)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Mobile Robot Control using Hand Shape Recognition

손 모양 인식을 이용한 모바일 로봇제어

  • 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.)
  • 김영래 (건국대학교 신기술융합학과) ;
  • 김은이 (건국대학교 신기술융합학과) ;
  • 장재식 (삼성전자 통신연구소) ;
  • 박세현 (대구대학교 정보통신공학부)
  • Published : 2008.07.25
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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.

본 논문에서는 손 모양 인식을 이용한 비전기반의 모바일 로봇제어 시스템을 제안한다. 손 모양을 인식하기 위해서는 움직이는 카메라로부터 정확한 손의 경계선을 추출하고 추적하는 것이 필요하다. 이를 위해 본 논문에서는 초기 윤곽선 위치 및 경계에 강건하고, 빠른 물체를 정확히 추적할 수 있는 mean shift를 이용한 활성 윤곽선 모델(ACM) 추적 방법을 개발하였다. 제안된 시스템은 손 검출기, 손 추적기, 손 모양 인식기, 로봇 제어기 4가지 모듈로 구성된다. 손 검출기는 영상에서 피부색 영역으로 정확한 모양을 손으로 추출한 이후 활성 윤곽선 모델(ACM) 과 mean shift를 사용하여 손 영역을 정확히 추적한다. 마지막으로 Hue 모멘트에 이용하여 손의 형태를 인식한다. 제안된 시스템의 적합성을 평가하기 위하여 2족 보행로봇 RCB-1에서 실험이 수행되었다. 실험 결과는 제안된 시스템의 효율성을 증명하였다.

Keywords

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