Design and Implementation of a Gesture-Driven System for Intelligent Wheelchairs Based on the Kinect Sensor
LUO Yuan, XIE Yu, ZHANG Yi
1. National Engineering Research & Development Center for Information Accessibility, Chongqing 400065, China; 2. Research Center of Intelligent System and Robot, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
罗元, 谢彧, 张毅. 基于Kinect传感器的智能轮椅手势控制系统的设计与实现[J]. 机器人, 2012, 34(1): 110-113,119..
LUO Yuan, XIE Yu, ZHANG Yi. Design and Implementation of a Gesture-Driven System for Intelligent Wheelchairs Based on the Kinect Sensor. ROBOT, 2012, 34(1): 110-113,119..
Abstract：First,hands are split from the background based on depth information from images got by the Kinect depth sensor.And then,three formulas are added to the Hu moment to make invariant moment contain more detailed characteristics for hand gesture recognition.At last,recognition results are translated into a control command which is transmitted to the intelligent wheelchair through Ad-Hoc network,to achieve motion control.Experiment shows that the gesture recognition achieved through this method has invariance all in images' rotation,zooming,panning,and is of strong robustness to background interference.
 Van den Bergh M,Van Gool L.Combining RGB and ToF cameras for real-time 3D hand gesture interaction[C]//IEEE Workshop on Application of Computer Vision.Piscataway,NJ,USA:IEEE,2011:66-72.
 Pang Y Y,Ismail N A,Gilbert P L S.A real time vision-based hand gesture interaction[C]//4th Asia International Conference on Mathematical/Analytical Modelling and Computer Simulation.Piscataway,NJ,USA:IEEE,2010:237-242.
 Kao M C,Li T H S.Design and implementation of interaction system between humanoid robot and human hand gesture[C]//Proceeding of SICE Annual Conference.Piscataway,NJ,USA:IEEE,2010:1616-1621.
 陈一民,张云华.基于手势识别的机器人人机交互技术研究[J].机器人,2009,31(4):351-356.Chen Y M,Zhang Y H.Research on human-robot interaction technique based on hand gesture recognition[J].Robot,2009,31(4):351-356.
 Lee S,Choi J,Oh S,et al.A real-time 3D IR camera based on hierarchical orthogonal coding[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2006:2035-2040.
 Huang J,Ma Z,Hu Y,et al.Robotic 3D structured light scanning system based on external axle[C]//International Conference on Intelligent Computation Technology and Automation.Piscataway,NJ,USA:IEEE,2008:1126-1129.
 Hu M K.Visual pattern recognition by moment invariants[J].IRE Transactions on Information Theory,1962,8(2):179-187.
 刘进,张天序.图像不变矩的推广[J].计算机学报,2004,27(5):668-674.Liu J,Zhang T X.The generalization of moment invariants[J].Chinese Journal of Computers,2004,27(5):668-674.
 Murthy G R S,Jadon R S.Hand gesture recognition using neural networks[C]//2nd International Advance Computing Conference.Piscataway,NJ,USA:IEEE,2010:134-138.