Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robot User Control System using Hand Gesture Recognizer

수신호 인식기를 이용한 로봇 사용자 제어 시스템

  • 손수원 (고려대학교 전기전자전파공학과) ;
  • 배정훈 ;
  • 양철종 (고려대학교 전기전자전파공학과) ;
  • 왕한 (고려대학교 전기전자전파공학과) ;
  • 고한석 (고려대학교 전기전자전파공학과)
  • Received : 2011.01.27
  • Accepted : 2011.03.14
  • Published : 2011.04.01
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Abstract

This paper proposes a robot control human interface using Markov model (HMM) based hand signal recognizer. The command receiving humanoid robot sends webcam images to a client computer. The client computer then extracts the intended commanding hum n's hand motion descriptors. Upon the feature acquisition, the hand signal recognizer carries out the recognition procedure. The recognition result is then sent back to the robot for responsive actions. The system performance is evaluated by measuring the recognition of '48 hand signal set' which is created randomly using fundamental hand motion set. For isolated motion recognition, '48 hand signal set' shows 97.07% recognition rate while the 'baseline hand signal set' shows 92.4%. This result validates the proposed hand signal recognizer is indeed highly discernable. For the '48 hand signal set' connected motions, it shows 97.37% recognition rate. The relevant experiments demonstrate that the proposed system is promising for real world human-robot interface application.

Keywords

References

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