The use of hand gestures provides an attractive alternative to cumbersome interface devices for Human-Computer Interaction (HCI). However, in dynamic gesture recognition area, hand tracking under a complicated environment and gesture spotting namely detecting the start and end point are the two most challenging topics. In our work, a realtime Kinect-based dynamic hand gesture recognition (HGR) system which contains hand tracking, data processing, model training and gesture classification is proposed. In the first stage, two states of the performed hand including open and closed are utilized to achieve gesture spotting and 3D motion trajectories of gestures are captured by Kinect sensor. Further, motion orientation is extracted as the unique feature and Support Vector Machine (SVM) is used as the recognition algorithm in the proposed system. The results of experiments conducted in our database containing 10 Arabic numbers from 0 to 9 and the 26 characters of alphabet show efficiency with an average recognition rate of 95.42% and real-time performance of our method.

A real-time dynamic hand gesture recognition system using kinect sensor

Human Computer Interaction would be much more smooth with the implementation of rapid recognition, the aim of which is to recognize the hand gesture before it is completed In this paper, a rapid recognition for dynamic hand gestures using leap motion is proposed The database contains the three-dimensional motion trajectory of the numbers and the alphabet (36 gestures in total) which captured by utilizing a leap motion In order to enhance the effectiveness of rapid recognition, the SVM algorithm is utilized in the paper Experimental results show high recognition rate and accuracy of the proposed system

Rapid recognition of dynamic hand gestures using leap motion

Human Machine Interaction (HMI) plays a very important role in intelligent service robot research. Traditional HMI methods such as keyboard and mouse cannot satisfy the high demands in some environments. To solve this problem, many researchers pay attention to vision-based gesture recognition research recently. This paper proposes a simple method to control the movement of a robot based on Kinect which provides skeleton data with low computation, acceptable performance and financial cost. The method can recognize eleven defined gestures by using the coordinates of joints, which are obtained from the skeleton model provided by the Kinect SDK. A Khepera III robot is used as a prototype control object, to verify the effectiveness of the proposed method. The experimental results show that the success rate of gesture recognition is over 96%. The proposed method is robust to work in real-time.

Wheeled robot control based on gesture recognition using the Kinect sensor

: This report provides an overview of gestural controls of robots in general, followed by a discussion of issues more specific to control of military ground robots by dismounted Soldiers. For the field of gestural controls, the technological progress is rapid and distributed among many different approaches, and the number of relevant publications is huge. A review of literature is provided, focused on 2 types of technological approach: camera-based and wearable instrumented devices. Handheld devices are also discussed in terms of augmenting gesture precision (i.e., pointing gestures). Attention is given to issues related to relative advantages of each approach for effective recognition and parsing of gestures, particularly in terms of their relevance to dismounted Soldier systems. Human-factors issues regarding the interaction of Soldiers and technology and effective design of user interfaces and controls are fundamental to successful use. This report identifies the major issues regarding applications to dismounted military operations.

/pdf/gesture-based-controls-for-robots-overview-and-implications-3pzgm5tdfg.pdf

Gesture-Based Controls for Robots: Overview and Implications for Use by Soldiers

Advancements in cell phone hardware and software are revolutionizing the smart phone sector. Everything from shopping to complex medical systems are getting smart phone based. This paper discusses the development of a generic system for control of mobile robots using smart phones, and development of applications for two iPhones to get surveillance video from a mobile robot is illustrated. The solution is designed to handle interruptions such as incoming call and SMS during operation making the system robust. The developed system is flexible enough that it can accommodate any special camera without any changes in hardware of the system. Experiment results show that this generic solution is fast, flexible, portable and secure enough that it can be used anywhere with any robot/vehicle.

Smart phone interface for robust control of mobile robots

This paper realizes robot remote real-time navigation system by using smart phone. The smart phone was used for the displayer and command receiver, and the control commands and compressed video stream was transmitted on Internet between the robot and smart phone, thus a real-time video feedback was developed. According to the situation of communication, the sending frame rate of the video and robot's velocity were adjusted automatically. Furthermore an obstacles picture and shake were designed on the smart phone to warm the dangerous closeness between robot and obstacles. Therefore, the security of the robot was enhanced and the defects were overcome that limited computational power, display screen, communication bandwidth and large network delay. Proved by experiment, this robot real-time navigation system was portable, flexible, simple to use and can be used anywhere at any time.

Robot's remote real-time navigation controlled by smart phone

In this paper, we deal with the problem of longrange navigating the robot in unknown environment. The robot captures the environment video in remote field, and the video is transmitted over the Internet in real-time and displayed on the control terminal. On the control side, according to the received video, the operator sends control instructions to guide the robot by using predetermined gestures. The gestures are recognized by the sensor, and convert to instructions such as forward, backward, turning left, turning right and so on, and then the instructions are transmitted to the robot over the internet. Therefore, we complete a close-loop feedback control of robot's long-range navigation. In gesture recognition, we propose a novel way to capture the tracks of users' arms by utilizing the Kinect — a product of Microsoft. With the skeleton tracing ability of Kinect, we can obtain the coordinates sequence of arms. Then we establish the library of gestures and recognize some given gestures by using DTW (Dynamic Time Warping) algorithm. In communications, we choose H.264 video codec standard for video encoding and decoding, and combine with the network communication technology, to ensure the real-time requirement of robot teleoperation.

Mo Li

Papers

Robot's remote real-time navigation controlled by smart phone

Gesture-based robot's long-range navigation