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Long Range Gesture Recognition in Robot Environments with a Single Camera
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- Authors
- Do Hyung Kim, Woo Han Yun, Jae Yeon Lee
- Issue Date
- 2009-07
- Citation
- International Technical Conference on Circuits/Systems, Computers and Communications (ITC-CSCC) 2009, pp.1005-1007
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes a vision-based human's arm gesture recognition method for human robot interaction particularly at a long distance where speech information is not available. We define four meaningful arm gestures for a long range interaction. The proposed method is able to recognize the defined gestures only with 320x240 pixel-sized low-resolution input images captured from a single camera at a long distance, approximately five meters distance from the camera. In addition, the system differentiates the target gestures from the users' normal actions that occur in daily life without any constraints. For human detection at a long distance, the proposed approach combines results from mean-shift color tracking, shortand long-range face detection, and omega shape detection. The system then detects arm blocks by using a background subtraction method with a background updating module and recognizes the target gestures based on the information about region, periodical motion, and shape of the arm blocks. From the experiments on a realistic and large database, a recognition rate of 97.235% is achieved, which is a sufficiently practical level for various robot applications based on human's gestures.
- KSP Keywords
- Arm gesture recognition, Background Subtraction, Color Tracking, Human Detection, Human robot interaction(HRI), Long distance, Long-range interaction, Mean-shift(MS), Omega shape, Recognition Rate, Recognition method