Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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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 (Dept of IT Convergence Engineering, Kyungnam University) ;
  • Rhee, Sang-Yong (Dept of Computer Engineering, Kyungnam University)
  • Received : 2017.03.30
  • Accepted : 2017.04.13
  • Published : 2017.04.25
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Abstract

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.

본 논문에서는 손짓을 이용하여 로봇에게 명령을 내릴 때, 사용자의 여러 가지 손짓 중 의미 있는 동작을 추출하기 위한 방법을 제시한다. 로봇에게 명령을 내릴 때, 사람들의 손짓은 준비동작, 본 동작, 마무리 동작으로 구분할 수 있다. 여기에서 본 동작이 로봇에게 명령을 전달하는 의미 있는 동작이고 다른 동작은 그 동작을 위한 의미 없는 보조 동작이다. 따라서 연속적인 손짓에서 본 동작만을 추출해야 한다. 또한 사람들은 무위식적으로 손을 움직일 수 있는데 이러한 동작들 역시 의미가 없는 동작으로 로봇이 판단하여야 한다. 본 연구에서는 키넥트 센서를 이용하여 획득한 거리영상에서 사람의 골격자료를 획득하여 손을 추출하고, 칼만필터를 이용하여 손의 위치를 추적하면서 의미 있는 손동작과 의미 없는 손동작을 구분하고 은닉 마코프 모델을 이용하여 손짓을 인식한다.

Keywords

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