4 February 2013 Training industrial robots with gesture recognition techniques
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Abstract
In this paper we propose to use gesture recognition approaches to track a human hand in 3D space and, without the use of special clothing or markers, be able to accurately generate code for training an industrial robot to perform the same motion. The proposed hand tracking component includes three methods: a color-thresholding model, naïve Bayes analysis and Support Vector Machine (SVM) to detect the human hand. Next, it performs stereo matching on the region where the hand was detected to find relative 3D coordinates. The list of coordinates returned is expectedly noisy due to the way the human hand can alter its apparent shape while moving, the inconsistencies in human motion and detection failures in the cluttered environment. Therefore, the system analyzes the list of coordinates to determine a path for the robot to move, by smoothing the data to reduce noise and looking for significant points used to determine the path the robot will ultimately take. The proposed system was applied to pairs of videos recording the motion of a human hand in a „real‟ environment to move the end-affector of a SCARA robot along the same path as the hand of the person in the video. The correctness of the robot motion was determined by observers indicating that motion of the robot appeared to match the motion of the video.
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Jennifer Piane, Jennifer Piane, Daniela Raicu, Daniela Raicu, Jacob Furst, Jacob Furst, } "Training industrial robots with gesture recognition techniques", Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 86620I (4 February 2013); doi: 10.1117/12.2002708; https://doi.org/10.1117/12.2002708
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