Abstract:The related research about vision-based hand gesture recognition for human-robot interaction is analyzed comprehensively. The main achievements in this field and its combination with other interaction modalities are summarized. The critical problems in the research and some future research directions are pointed out.
[1] Agah A. Human interactions with intelligent systems:Research taxonomy[J]. Computers and Electrical Engineering, 2000, 27(1):71-107.
[2] Goodrich M A, Schultz A C. Human-robot interaction:A survey[J]. Foundations and Trends in Human-Computer Interaction, 2007, 1(3):203-275.
[3] Yin X M, Xie M. Hand posture segmentation, recognition and application for human-robot interaction[M/OL]//Human Robot Interaction. InTech Open Access Publisher, 2007.
[4] Hasan H, Abdul-Kareem S. Human-computer interaction using vision-based hand gesture recognition systems:A survey[J]. Neural Computing and Applications, 2014, 25(2):251-261.
[5] Rautaray S S, Agrawal A. Vision based hand gesture recognition for human computer interaction:A survey[J]. Artificial Intelligence Review, 2015, 43(1):1-54.
[6] Schultz M, Gill J, Zubairi S, et al. Bacterial contamination of computer keyboards in a teaching hospital[J]. Infection Control & Hospital Epidemiology, 2003, 24(4):302-303.
[7] Pisharady P K, Saerbeck M. Recent methods and databases in vision-based hand gesture recognition:A review[J]. Computer Vision and Image Understanding, 2015, 141:152-165.
[8] Erol A, Bebis G, Nicolescu M, et al. Vision-based hand pose estimation:A review[J]. Computer Vision and Image Understanding, 2007, 108(1-2):52-73.
[9] Badi H S, Hussein S. Hand posture and gesture recognition technology[J]. Neural Computing and Applications, 2014, 25(3-4):871-878.
[10] Zaki M M, Shaheen S I. Sign language recognition using a combination of new vision based features[J]. Pattern Recognition Letters, 2011, 32(4):572-577.
[11] Ottenheimer H J. The anthropology of language:An introduction to linguistic anthropology[M]. Belmont, USA:Wadsworth Publishing, 2005.
[12] McNeill D. Hand and mind:What gestures reveal about thought[M]. Chicago, USA:University of Chicago Press, 1992.
[13] 易靖国,程江华,库锡树.视觉手势识别综述[J].计算机科学,2016,43(S1):103-108.Yi J G, Cheng J H, Ku X S. Review of gestures recognition based on vision[J]. Computer Science, 2016, 43(S1):103-108.
[14] Bretzner L, Laptev I, Lindeberg T. Hand gesture recognition using multi-scale colour features, hierarchical models and particle filtering[C]//5th IEEE International Conference on Automatic Face and Gesture Recognition. Piscataway, USA:IEEE, 2002:423-428.
[15] Felzenszwalb P F, Girshick R B, McAllester D, et al. Object detection with discriminatively trained part-based models[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2010, 32(9):1627-1645.
[16] Zou C Y, Liu Y, Wang J B, et al. Deformable part model based hand detection against complex backgrounds[C]//11th Chinese Conference on Image and Graphics Technologies and Applications. Singapore:Springer, 2016:149-159.
[17] Mittal A, Zisserman A, Torr P H. Hand detection using multiple proposals[C]//22nd British Machine Vision Conference. Guildford, UK:B M V A Press, 2011.
[18] Zhao Y G, Song Z, Wu X Y. Hand detection using multi-resolution HOG features[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2012:1715-1720.
[19] Thangali A, Sclaroff S. An alignment based similarity measure for hand detection in cluttered sign language video[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, USA:IEEE, 2009:89-96.
[20] Shi L, Wang Y S, Li J T. A real time vision-based hand gestures recognition system[C]//International Symposium on Intelligence Computation and Applications. Berlin, Germany:Springer, 2010:349-358.
[21] Zondag J A, Gritti T, Jeanne V. Practical study on real-time hand detection[C]//3rd International Conference on Affective Computing and Intelligent Interaction and Workshops. Piscataway, USA:IEEE, 2009:8pp.
[22] Zhang Y, Zhang J, Luo Y. A novel intelligent wheelchair control system based on hand gesture recognition[C]//IEEE/ICME International Conference on Complex Medical Engineering. Piscataway, USA:IEEE, 2011:334-339.
[23] Chen Q, Georganas N D, Petriu E M. Hand gesture recognition using Haar-like features and a stochastic context-free grammar[J]. IEEE Transactions on Instrumentation and Measurement, 2008, 57(8):1562-1571.
[24] Dardas N, Chen Q, Georganas N D, et al. Hand gesture recognition using bag-of-features and multi-class support vector machine[C]//IEEE International Workshop on Haptic Audio Visual Environments and Games. Piscataway, USA:IEEE, 2010:5pp.
[25] Dardas N. Real-time hand gesture detection and recognition for human computer interaction[D]. Ottawa, Canadian:University of Ottawa, 2012.
[26] Dardas N H, Silva J M, El Saddik A. Target-shooting exergame with a hand gesture control[J]. Multimedia Tools and Applications, 2014, 70(3):2211-2233.
[27] Dardas N H, Petriu E M. Hand gesture detection and recognition using principal component analysis[C]//IEEE International Conference on Computational Intelligence for Measurement Systems and Applications. Piscataway, USA:IEEE, 2011:11-16.
[28] Dardas N H, Georganas N D. Real-time hand gesture detection and recognition using bag-of-features and support vector machine techniques[J]. IEEE Transactions on Instrumentation and Measurement, 2011, 60(11):3592-3607.
[29] Mei K Z, Xu L, Li B L, et al. A real-time hand detection system based on multi-feature[J]. Neurocomputing, 2015, 158:184-193.
[30] Mei K Z, Zhang J, Li G H, et al. Training more discriminative multi-class classifiers for hand detection[J]. Pattern Recognition, 2015, 48(3):785-797.
[31] Kim J, Baek J, Kim E. A part-based rotational invariant hand detection[C]//International Conference on Fuzzy Theory and Its Applications. Piscataway, USA:IEEE, 2013:127-129.
[32] 余益民,黄廷辉,桑涛.基于Real AdaBoost算法的肤色分割方法[J].计算机应用,2011,31(12):3370-3372,3377.Yi Y M, Huang T H, Sang T. Skin segmentation based on Real AdaBoost algorithm[J]. Journal of Computer Applications, 2011, 31(12):3370-3372,3377.
[33] Girondel V, Bonnaud L, Caplier A. A human body analysis system[J]. EURASIP Journal on Applied Signal Processing, 2006:No.61927.
[34] Manigandan M, Jackin I M. Wireless vision based mobile robot control using hand gesture recognition through perceptual color space[C]//International Conference on Advances in Computer Engineering. Piscataway, USA:IEEE, 2010:95-99.
[35] 杨丽,胡桂明,黄东芳,等.结合肤色分割和ELM算法的静态手势识别[J].广西大学学报:自然科学版,2015,40(2):444-450.Yang L, Hu G M, Huang D F, et al. Static gesture recognition algorithm of combinating skin color segmentation with ELM[J]. Journal of Guangxi University:Natural Science Edition, 2015, 40(2):444-450.
[36] Bhuyan M K, Neog D R, Kar M K. Hand pose recognition using geometric features[C]//National Conference on Communications. Piscataway, USA:IEEE, 2011:5pp.
[37] Ozturk O, Aksac A, Ozyer T, et al. Boosting real-time recognition of hand posture and gesture for virtual mouse operations with segmentation[J]. Applied Intelligence, 2015, 43(4):786-801.
[38] 王晓华,李才顺,胡敏,等.服务机器人手势识别系统研究[J].电子测量与仪器学报,2013,27(4):305-311.Wang X H, Li C S, Hu M, et al. Research on hand recognition system for service robot[J]. Journal of Electronic Measurement and Instrument, 2013, 27(4):305-311.
[39] Feng Z Q, Yang B, Chen Y H, et al. Features extraction from hand images based on new detection operators[J]. Pattern Recognition, 2011, 44(5):1089-1105.
[40] 闯跃龙,陈岭,陈根才.基于层次化BoF模型和Spectral-HIK过滤的手势识别算法[J].浙江大学学报:工学版,2013,47(9):1531-1536,1584.Chuang Y L, Chen L, Chen G C. Hierarchical bag-of-features with Spectral-HIK filter based hand posture recognition[J]. Journal of Zhejiang University:Engineering Science, 2013, 47(9):1531-1536,1584.
[41] Chuang Y L, Chen L, Chen G C. Saliency-guided improvement for hand posture detection and recognition[J]. Neurocomputing, 2014, 133:404-415.
[42] Chuang Y L, Chen L, Chen G C, et al. Isophote based center-surround contrast computation for image saliency detection[J]. IEICE Transactions on Information and Systems, 2014, 97(1):160-163.
[43] Chuang Y L, Chen L, Zhao G Q, et al. Hand posture recognition and tracking based on bag-of-words for human robot interaction[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2011:538-543.
[44] Chuang Y L, Chen L, Chen G C. Hierarchical bag-of-features for hand posture recognition[C]//18th IEEE International Conference on Image Processing. Piscataway, USA:IEEE, 2011:1777-1780.
[45] Liu L W, Xing J L, Ai H Z, et al. Hand posture recognition using finger geometric feature[C]//21st International Conference on Pattern Recognition. Piscataway, USA:IEEE, 2012:565-568.
[46] Crisostomo Romero P M. Hand detection on images based on deformable part models and additional features[D]. Urbana-Champaign, USA:University of Illinois, 2011.
[47] Meng X B, Lin J, Ding Y C. An extended hog model:SCHOG for human hand detection[C]//International Conference on Systems and Informatics. Piscataway, USA:IEEE, 2012:2593-2596.
[48] 钱堃,马旭东,戴先中,等.基于最优DAGSVM的服务机器人交互手势识别[J].中国图象图形学报,2009,14(1):118-124.Qian K, Ma X D, Dai X Z, et al. Optimal DAGSVM based posture recognition for human-robot interaction[J]. Journal of Image and Graphics, 2009, 14(1):118-124.
[49] Pisharady P K, Vadakkepat P, Loh A P. Attention based detection and recognition of hand postures against complex backgrounds[J]. International Journal of Computer Vision, 2012, 101(3):403-419.
[50] Wu Y, Huang T S. View-independent recognition of hand postures[C]//IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, USA:IEEE, 2000:88-94.
[51] Wu Y, Liu Q, Huang T S. An adaptive self-organizing color segmentation algorithm with application to robust real-time human hand localization[C]//Asian Conference on Computer Vision. 2000:1106-1111.
[52] Simion G, Gui V, Otesteanu M, et al. Finger detection based on hand contour and colour information[C]//6th IEEE International Symposium on Applied Computational Intelligence and Informatics. Piscataway, USA:IEEE, 2011:97-100.
[53] Zhou Y M, Jiang G L, Lin Y R. A novel finger and hand pose estimation technique for real-time hand gesture recognition[J]. Pattern Recognition, 2016, 49:102-114.
[54] Zhou Y M, Jiang G L, Xu G Q, et al. Hand gesture recognition based on the parallel edge finger feature and angular projection[C]//12th Asian Conference on Computer Vision. Berlin, Germany:Springer, 2015:206-217.
[55] 杜晓川.基于视觉的动态手势识别相关技术研究及实现[D].成都:电子科技大学,2012.Du X C. Research on vision-based dynamic hand gesture recognition and its implementation[D]. Chengdu:University of Electronic Science and Technology of China, 2012.
[56] 孙靖.基于视觉的实时手势识别及其应用[D].南宁:广西大学,2013.Sun J. The real-time dynamical gesture recognition based on computer vision technology and its application[D]. Nanning:Guangxi University, 2013.
[57] Chen F-S, Fu C-M, Huang C-L. Hand gesture recognition using a real-time tracking method and hidden Markov models[J]. Image and Vision Computing, 2003, 21(8):745-758.
[58] 董静远.复杂背景下的手势分割方法研究[D].广州:华南理工大学,2011.Dong J Y. Hand gesture segmentation in complex background[D]. Guangzhou:South China University of Technology, 2011.
[59] 关然,徐向民,罗雅愉,等.基于计算机视觉的手势检测识别技术[J].计算机应用与软件,2013,30(1):155-159, 164.Guan R, Xu X M, Luo Y Y, et al. A computer vision-based gesture detection and recognition technique[J]. Computer Applications and Software, 2013, 30(1):155-159,164.
[60] Yang H D, Park A Y, Lee S W. Gesture spotting and recognition for human-robot interaction[J]. IEEE Transactions on Robotics, 2007, 23(2):256-270.
[61] Hasanuzzaman M, Ampornaramveth V, Zhang T, et al. Real-time vision-based gesture recognition for human robot interaction[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2004:413-418.
[62] Hasanuzzaman M, Zhang T, Ampornaramveth V, et al. Gesture-based human-robot interaction using a knowledge-based software platform[J]. Industrial Robot, 2006, 33(1):37-49.
[63] 程小鹏.基于特征提取的手势识别技术研究[D].武汉:武汉理工大学,2012.Cheng X P. A research of gesture recognition based on feature extraction[D]. Wuhan:Wuhan University of Technology, 2012.
[64] 陈晓竹.移动机器人手势控制算法的研究与实现[D].哈尔滨:哈尔滨工业大学,2012.Chen X Z. A hand gesture recognition algorithm and its implementation for robot control[D]. Harbin:Harbin Institute of Technology, 2012.
[65] 高楠.基于视觉的手势识别技术的研究[D].天津:河北工业大学,2014.Gao N. Research on vision-based hand gesture recognition technology[D]. Tianjin:Hebei University of Technology, 2014.
[66] Triesch J, von der Malsburg C. A system for person-independent hand posture recognition against complex backgrounds[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2001, 23(12):1449-1453.
[67] Triesch J, von der Malsburg C. Robust classification of hand postures against complex backgrounds[C]//Proceedings of the 2nd International Conference on Automatic Face and Gesture Recognition. Piscataway, USA:IEEE, 1996:170-175.
[68] Li Y T, Wachs J P. HEGM:A hierarchical elastic graph matching for hand gesture recognition[J]. Pattern Recognition, 2014, 47(1):80-88.
[69] Kortenkamp D, Huber E, Bonasso R P. Recognizing and interpreting gestures on a mobile robot[C]//Proceedings of the National Conference on Artificial Intelligence. Menlo Park, USA:AAAI, 1996:915-921.
[70] Bobick A F, Davis J W. The recognition of human movement using temporal templates[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2001, 23(3):257-267.
[71] Waldherr S, Romero R, Thrun S. A gesture based interface for human-robot interaction[J]. Autonomous Robots, 2000, 9(2):151-173.
[72] Harrington P. Machine learning in action[M]. Shelter Island, USA:Manning Publications, 2012.
[73] 周志华.机器学习[M].北京:清华大学出版社,2016.Zhou Z H. Machine learning[M]. Beijing:Tsinghua University Press, 2016.
[74] 李航.统计学习方法[M].北京:清华大学出版社,2012.Li H. Statistical learning method[M]. Beijing:Tsinghua University Press, 2012.
[75] 蔡军,李晓娟,张毅,等.结合归一化中心矩与DAGSVM的机器人交互手势识别[J].计算机应用与软件,2013,30(7):132-135.Cai J, Li X J, Zhang Y, et al. Robot interactive hand gesture recognition combining normalized central moments and DAGSVM[J]. Computer Applications and Software, 2013, 30(7):132-135.
[76] Feng K-P, Yuan F. Static hand gesture recognition based on HOG characters and support vector machines[C]//2nd International Symposium on Instrumentation and Measurement, Sensor Network and Automation. Piscataway, USA:IEEE, 2013:936-938.
[77] Lan T T, Shen J Y, Liu R J, et al. Hand gesture recognition based on improved histograms of oriented gradients[C]//27th Chinese Control and Decision Conference. Piscataway, USA:IEEE, 2015:4211-4215.
[78] Rekha J, Bhattacharya J, Majumder S. Hand gesture recognition for sign language:A new hybrid approach[C]//International Conference on Image Processing, Computer Vision, and Pattern Recognition. Las Vegas, USA:CSREA Press, 2011:80-86.
[79] Ghafouri S, Seyedarabi H. Hybrid method for hand gesture recognition based on combination of Haar-like and HOG features[C]//21st Iranian Conference on Electrical Engineering. Piscataway, USA:IEEE, 2013:4pp.
[80] Nguyen V T, Le T L, Tran T H, et al. Hand posture recognition using kernel descriptor[C]//6th International Conference on Intelligent Human Computer Interaction. Amsterdam, Netherlands:Elsevier, 2014:154-157.
[81] Rekha J, Bhattacharya J, Majumder S. Shape, texture and local movement hand gesture features for Indian sign language recognition[C]//3rd International Conference on Trendz in Information Sciences & Computing. Piscataway, USA:IEEE, 2011:30-35.
[82] Kohonen T. An introduction to neural computing[J]. Neural Networks, 1988, 1(1):3-16.
[83] 谢剑斌,胡俊,谭筠,等.视觉机器学习20讲[M].北京:清华大学出版社,2015.Xie J B, Hu J, Tan Y, et al. Vision-based machine learning[M]. Beijing:Tsinghua University Press, 2015.
[84] Tusor B, Várkonyi-Kóczy A R. Circular fuzzy neural network based hand gesture and posture modeling[C]//IEEE International Instrumentation and Measurement Technology Conference. Piscataway, USA:IEEE, 2010:815-820.
[85] Várkonyi-Kóczy A R, Tusor B. Human-computer interaction for smart environment applications using fuzzy hand posture and gesture models[J]. IEEE Transactions on Instrumentation and Measurement, 2011, 60(5):1505-1514.
[86] Kim K K, Kwak K C, Ch S Y. Gesture analysis for human-robot interaction[C]//8th International Conference on Advanced Communication Technology. Piscataway, USA:IEEE, 2006:1824-1827.
[87] Barros P, Parisi G I, Jirak D, et al. Real-time gesture recognition using a humanoid robot with a deep neural architecture[C]//14th IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA:IEEE, 2014:646-651.
[88] Freund Y, Schapire R E. A decision-theoretic generalization of on-line learning and an application to boosting[J]. Journal of Computer and System Sciences, 1997, 55(1):119-139.
[89] Wang C-C, Wang K-C. Hand posture recognition using Adaboost with SIFT for human robot interaction[C]//13th International Conference on Advanced Robotics. Berlin, Germany:Springer, 2008:317-329.
[90] Ong E J, Bowden R. A boosted classifier tree for hand shape detection[C]//6th IEEE International Conference on Automatic Face and Gesture Recognition. Piscataway, USA:IEEE, 2004:889-894.
[91] 程光.人机交互系统中手势和姿势识别算法的研究[D].北京:清华大学,2014.Cheng G. Research on gesture and posture recognition in human computer interaction system[D]. Beijing:Tsinghua University, 2014.
[92] Hernandez-Belmonte U H, Ayala-Ramirez V. Feature selection using genetic algorithms for hand posture recognition[C]//8th Mexican Conference on Pattern Recognition. Cham, Switzerland:Springer, 2016:208-218.
[93] Hernandez-Belmonte U H, Ayala-Ramirez V. Real-time hand posture recognition for human-robot interaction tasks[J]. Sensors, 2016, 16(1):No.36.
[94] Correa M, Ruiz-del-Solar J, Verschae R, et al. Real-time hand gesture recognition for human robot interaction[C]//13th RoboCup Symposium held in Conjunction with the RoboCup Competition. Berlin, Germany:Springer, 2010:46-57.
[95] Malima A, Ozgur E, Çetin M. A fast algorithm for vision-based hand gesture recognition for robot control[C]//IEEE 14th Signal Processing and Communications Applications. Piscataway, USA:IEEE, 2006:762-765.
[96] Ju M H, Kang H B. Emotional interaction with a robot using facial expressions, face pose and hand gestures[J]. International Journal of Advanced Robotic Systems, 2012, 9:No.95.
[97] 李瑞峰,贾建军.一种复杂背景下的手势提取方法[J].华中科技大学学报:自然科学版,2008,36(S1):81-83.Li R F, Jia J J. A method of extracting gesture from complex background[J]. Journal of Huazhong University of Science and Technology:Natural Science Edition, 2008, 36(S1):81-83.
[98] Thinh N T, Tuyen N T V, Son D T. Gait of quadruped robot and interaction based on gesture recognition[J]. Journal of Automation and Control Engineering, 2016, 4(1):53-58.
[99] 崔家礼,解威,王一丁,等.基于形状特征的静态手势数字识别[J].北方工业大学学报,2015,27(3):43-48,24.Cui J L, Xie W, Wang Y D, et al. Static gesture digit recognition based on shape features[J]. Journal of North China University of Technology, 2015, 27(3):43-48,24.
[100] 俞博,陈永强,王双一,等.基于手指角度特征的静态手势识别算法[J].西华大学学报:自然科学版,2014,22(1):69-71,83.Yu B, Chen Y Q, Wang S Y, et al. Static gesture recognition algorithm based on characteristics of finger angle[J]. Journal of Xihua University:Natural Science Edition, 2014, 22(1):69-71, 83.
[101] 魏志莲,汪剑鸣,窦汝振,等.一种新的室内机器人手势指令识别系统[J].天津工业大学学报,2010,29(1):72-76.Wei Z L, Wang J M, Dou R Z, et al. A new recognition system of hand gesture instruction based on indoor robot[J]. Journal of Tianjin Polytechnic University, 2010, 29(1):72-76.
[102] van Delden S, Umrysh M, Rosario C, et al. Pick-and-place application development using voice and visual commands[J]. Industrial Robot, 2012, 39(6):592-600.
[103] van Delden S, Umrysh M A. Visual detection of objects in a robotic work area using hand gestures[C]//2011 IEEE International Symposium on Robotic and Sensors Environments. Piscataway, USA:IEEE, 2011:237-242.
[104] Duda R O, Hart P E, Stork D G.模式分类[M].2版.北京:机械工业出版社,2003.Duda R O, Hart P E, Stork D G. Pattern classification[M]. 2nd ed. Beijing:China Machine Press, 2003.
[105] 刘江华,程君实,陈佳品.基于视觉的动态手势识别及其在仿人机器人交互中的应用[J].机器人,2002,24(3):197-200.Liu J H, Cheng J S, Chen J P. Vision based dynamic gesture recognition and its application in human-humanoid robot interaction[J]. Robot, 2002, 24(3):197-200.
[106] Li Z, Jarvis R. A multi-modal gesture recognition system in a human-robot interaction scenario[C]//IEEE International Workshop on Robotic and Sensors Environments. Piscataway, USA:IEEE, 2009:41-46.
[107] Stiefelhagen R, Fugen C, Gieselmann R, et al. Natural human-robot interaction using speech, head pose and gestures[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2004:2422-2427.
[108] Stiefelhagen R, Ekenel H K, Fugen C, et al. Enabling multi-modal human-robot interaction for the Karlsruhe humanoid robot[J]. IEEE Transactions on Robotics, 2007, 23(5):840-851.
[109] Nickel K, Stiefelhagen R. Visual recognition of pointing gestures for human-robot interaction[J]. Image and Vision Computing, 2007, 25(12):1875-1884.
[110] Nickel K, Stiefelhagen R. Real-time person tracking and pointing gesture recognition for human-robot interaction[C]//8th ECCV Workshop on Human-Computer Interaction. Berlin, Germany:Springer, 2004:28-38.
[111] 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.
[112] Bertsch F A, Hafner V V. Real-time dynamic visual gesture recognition in human-robot interaction[C]//9th IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA:IEEE, 2009:447-453.
[113] Burger B, Ferrané I, Lerasle F, et al. Two-handed gesture recognition and fusion with speech to command a robot[J]. Autonomous Robots, 2012, 32(2):129-147.
[114] Lee H-K, Kim J-H. An HMM-based threshold model approach for gesture recognition[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1999, 21(10):961-973.
[115] Lee S-W. Automatic gesture recognition for intelligent human-robot interaction[C]//7th International Conference on Automatic Face and Gesture Recognition. Piscataway, USA:IEEE, 2006:645-650.
[116] Calinon S, Billard A. Stochastic gesture production and recognition model for a humanoid robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2004:2769-2774.
[117] 任海兵,祝远新,徐光,等.基于视觉手势识别的研究——综述[J].电子学报,2000,28(2):118-121.Ren H B, Zhu Y X, Xu G, et al. Vision-based recognition of hand gestures:A survey[J]. Acta Electronica Sinica, 2002, 28(2):118-121.
[118] 黄振翔,彭波,吴娟,等.基于DTW与混合判别特征检测器的手势识别[J].计算机工程,2014,40(5):216-218, 223.Huang Z X, Peng B, Wu J, et al. Gesture recognition based on DTW and combined discriminative feature detector[J]. Computer Engineering, 2014, 40(5):216-218,223.
[119] 赵学萍,汪剑鸣,刘海亭,等.室内机器人动态手势指令识别系统研究[J].计算机工程与应用,2011,47(33):209-212.Zhao X P, Wang J M, Liu H T, et al. Research on dynamic gesture instruction recognition system for in-door robot[J]. Computer Engineering and Applications, 2011, 47(33):209-212.
[120] Boehme H-J, Brakensiek A, Braumann U-D, et al. Neural architecture for gesture-based human-machine-interaction[C]//International Gesture Workshop. Berlin, Germany:Springer, 1998:219-232.
[121] Moy M C. Gesture-based interaction with a pet robot[C]//16th National Conference on Artificial Intelligence/11th Conference on Innovative Applications of Artificial Intelligence. Palo Alto, USA:AAAI, 1999:628-633.
[122] 刘江华.基于视觉的手势识别及其在仿人型机器人中的应用[D].上海:上海交通大学,2002.Liu J H. Vision based hand gesture recognition and its application in humanoid robot[D]. Shanghai:Shanghai Jiao Tong University, 2002.
[123] Yin X M, Xie M. Finger identification and hand posture recognition for human-robot interaction[J]. Image and Vision Computing, 2007, 25(8):1291-1300.
[124] Yin X M, Zhu X. Hand posture recognition in gesture-based human-robot interaction[C]//1st IEEE Conference on Industrial Electronics and Applications. Piscataway, USA:IEEE, 2006:835-840.
[125] 曹雏清.面向多方式人际交互的肢体动作识别研究[D].哈尔滨:哈尔滨工业大学,2012.Cao C Q. Research on human action recognition for multi-modal human and robot interaction[D]. Harbin:Harbin Institute of Technology, 2012.
[126] Cao C Q, Sun Y, Li R F, et al. Hand posture recognition via joint feature sparse representation[J]. Optical Engineering, 2011, 50(12):No.127210.
[127] Hu C, Wang X, Mandal M K, et al. Efficient face and gesture recognition techniques for robot control[C]//15th IEEE Canadian Conference on Electrical and Computer Engineering. Piscataway, USA:IEEE, 2003:1757-1762.
[128] Hu C, Meng M Q, Liu P X P, et al. Visual gesture recognition for human-machine interface of robot teleoperation[C]//IEEE/RSJ International Conference on Intelligent Robots and Sys-tems. Piscataway, USA:IEEE, 2003:1560-1565.
[129] 谭昶,肖南峰.基于改进RCE和RBF神经网络的静态手势识别[J].计算机工程与应用,2011,47(7):172-176.Tan C, Xiao N-F. Static hand gesture recognition based on improved RCE neural network and RBF neural network[J]. Computer Engineering and Applications, 2011, 47(7):172-176.
[130] Pateraki M, Baltzakis H, Trahanias P. Visual estimation of pointed targets for robot guidance via fusion of face pose and hand orientation[J]. Computer Vision and Image Understanding, 2014, 120:1-13.
[131] Grzejszczak T, Legowski A, Niezabitowski M. Robot manipulator teaching techniques with use of hand gestures[C]//20th International Conference on Control Systems and Computer Science. Piscataway, USA:IEEE, 2015:71-77.
[132] Lin H-I, Chiang Y. Understanding human hand gestures for learning robot pick-and-place tasks[J]. International Journal of Advanced Robotic Systems, 2015, 12:No.49.
[133] Ghidary S S, Nakata Y, Saito H, et al. Multi-modal interaction of human and home robot in the context of room map generation[J]. Autonomous Robots, 2002, 13(2):169-184.
[134] Perzanowski D, Brock D, Adams W, et al. Finding the FOO:A pilot study for a multimodal interface[C]//IEEE International Conference on Systems, Man, and Cybernetics. Piscataway, USA:IEEE, 2003:3218-3223.
[135] Perzanowski D, Schultz A C, Adams W, et al. Building a multimodal human-robot interface[J]. IEEE Intelligent Systems and Their Applications, 2001, 16(1):16-21.
[136] Rogalla O, Ehrenmann M, Zollner R, et al. Using gesture and speech control for commanding a robot assistant[C]//11th IEEE International Workshop on Robot and Human Interactive Communication. Piscataway, USA:IEEE, 2002:454-459.
[137] Iio T, Shiomi M, Shinozawa K, et al. Entrainment between speech and gestures in human-robot interaction[C]//SICE 49th Annual Conference. Piscataway, USA:IEEE, 2010:2769-2774.
[138] Bremner P, Leonards U. Iconic gestures for robot avatars, recognition and integration with speech[J]. Frontiers in Psychology, 2016, 7:No.183.
[139] Bremner P, Leonards U. Speech and gesture emphasis effects for robotic and human communicators-A direct comparison[C]//10th Annual ACM/IEEE International Conference on Human-Robot Interaction. New York, USA:ACM, 2015:255-262.