DOI QR코드

DOI QR Code

Hand Raising Pose Detection in the Images of a Single Camera for Mobile Robot

주행 로봇을 위한 단일 카메라 영상에서 손든 자세 검출 알고리즘

  • Kwon, Gi-Il (Integrated Control Research Team, National Fusion Research Institute(NFRI))
  • Received : 2015.04.09
  • Accepted : 2015.06.17
  • Published : 2015.11.30

Abstract

This paper proposes a novel method for detection of hand raising poses from images acquired from a single camera attached to a mobile robot that navigates unknown dynamic environments. Due to unconstrained illumination, a high level of variance in human appearances and unpredictable backgrounds, detecting hand raising gestures from an image acquired from a camera attached to a mobile robot is very challenging. The proposed method first detects faces to determine the region of interest (ROI), and in this ROI, we detect hands by using a HOG-based hand detector. By using the color distribution of the face region, we evaluate each candidate in the detected hand region. To deal with cases of failure in face detection, we also use a HOG-based hand raising pose detector. Unlike other hand raising pose detector systems, we evaluate our algorithm with images acquired from the camera and images obtained from the Internet that contain unknown backgrounds and unconstrained illumination. The level of variance in hand raising poses in these images is very high. Our experiment results show that the proposed method robustly detects hand raising poses in complex backgrounds and unknown lighting conditions.

Keywords

References

  1. Kim, DoHyung, et al., "Vision-based ann gesture recognition for a long-range human-robot interaction", The Journal of Supercomputing, vol. 65, issue 1, pp.336-352, July, 2013. https://doi.org/10.1007/s11227-010-0541-9
  2. Chiang, Cheng-Chieh. "Automatic Raising Hand Detection in an Intelligent Classroom.", IJEIR, vol. 3, no.2, pp.151-155, March, 2014.
  3. Xiaodong Duan; Hong Liu, "Detection of hand-raising gestures based on body silhouette analysis," IEEE Robotics and Biomimetics, Bangkok, Thailand, 2009, pp.1756-1761.
  4. Nazare, Tiago S., and Moacir Ponti. "Hand-raising gesture detection with Lienhart-Maydt method in videoconference and distance learning." Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications. Springer Berlin Heidelberg, 2013. 512-519.
  5. Nyan Bo Bo; Van Hese, P.; Van Cauwelaert, D. Veelaelt, P.; Philips, W., "Detection of a hand-raising gesture by locating the arm," IEEE Robotics and Biomimetics(ROBIO), Phuket, Thailand, 2011, pp.976-980.
  6. Kim Juchang, Park Jeong-Woo, Kim Woo-Hyun, Lee Won-Hyong, Chung Myung-Jin, "Primitive Body Model Encoding and Selective Asynchronous Input-Parallel State Machine for Body Gesture Recognition", Journal of Korea Robotics Society, 2013, vol.8, no1., pp.238-246. https://doi.org/10.7746/jkros.2013.8.4.238
  7. Jeongdae Kim1, Yongtae Do, "Human Detection in the Images of a Single Camera for a Corridor Navigation Robot", Journal of Korea Robotics Society, 2013, vol.8, no4., pp.1-7 . https://doi.org/10.7746/jkros.2013.8.1.001
  8. Dalal, N. Triggs, B., "Histograms of oriented gradients for human detection," in IEEE Computer Vision and Pattern Recognition, 2005, vol.1, no., pp.886-893, June 2005.
  9. P. Yogarajah , A. Cheddad, J. Condell , K. Curran and P. McKevitt "A dynamic threshold approach for skin segmentation in color images", In Proc. of IEEE Int. Conf. on Image Processing, 2010, pp.2225,2228.
  10. P. Kakumanu, S. Makrogiannis, N. Bourbakis., "Asurvey of skin-color modeling and detection methods", Pattern Recognition, vol. 40, issue 3, pp. 1106-1122, March, 2007. https://doi.org/10.1016/j.patcog.2006.06.010