Body gestures recognition system to control a service robot

Personal service robots will be in the short future part ofour world by assisting humans in their daily chores. A highly efficient way of communication withpeople is through basic gestures. In this work, we present an efficient body gestures’ interface that gives the user practical communication to...

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Detalles Bibliográficos
Autores: ANABEL MARTIN GONZALEZ, CARLOS FRANCISCO BRITO LOEZA, VICTOR EMANUEL DE ATOCHA UC CETINA
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2017
País:México
Institución:Universidad Autónoma de Yucatán
Repositorio:Repositorio Digital Institucional de la Universidad Autónoma de Yucatán
Idioma:inglés
OAI Identifier:oai:redi.uady.mx:123456789/768
Acceso en línea:http://redi.uady.mx:8080/handle/123456789/768
Access Level:acceso embargado
Palabra clave:info:eu-repo/classification/cti/7
Intelligent control
Service robots
Gesture recognition
Adaboost
Haar features
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spelling Body gestures recognition system to control a service robotANABEL MARTIN GONZALEZCARLOS FRANCISCO BRITO LOEZAVICTOR EMANUEL DE ATOCHA UC CETINAinfo:eu-repo/classification/cti/7Intelligent controlService robotsGesture recognitionAdaboostHaar featuresPersonal service robots will be in the short future part ofour world by assisting humans in their daily chores. A highly efficient way of communication withpeople is through basic gestures. In this work, we present an efficient body gestures’ interface that gives the user practical communication to control a personal service robot. The robot can interpret two body gestures ofthe subject and performs actions related to those gestures. The service robot’s setup consists of a Pioneer P3-DX research robot, a Kinect sensor and a portable workstation. The gesture recognition system developed is based on tracking the skeleton of the user to get the body parts relative 3D positions. In addition, the system takes depth images from the sensor and extracts theirHaar features, which will train the Adaboost algorithm to classify the gesture. The system was developed using the ROS framework, showing good performance during experimental evaluation with users. Our body gesture-basedinterface may serve as a baseline to develop practical and natural interfaces to communicate with service robots in the near future.JOSE L. MEDINA CATZIN2017-09-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://redi.uady.mx:8080/handle/123456789/768urn:issn:2074-9007reponame:Repositorio Digital Institucional de la Universidad Autónoma de Yucatáninstname:Universidad Autónoma de Yucatáninstacron:UADYengInvestigación aplicadainfo:eu-repo/semantics/embargoedAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0oai:redi.uady.mx:123456789/7682024-10-04T19:03:26Z
dc.title.none.fl_str_mv Body gestures recognition system to control a service robot
title Body gestures recognition system to control a service robot
spellingShingle Body gestures recognition system to control a service robot
ANABEL MARTIN GONZALEZ
info:eu-repo/classification/cti/7
Intelligent control
Service robots
Gesture recognition
Adaboost
Haar features
title_short Body gestures recognition system to control a service robot
title_full Body gestures recognition system to control a service robot
title_fullStr Body gestures recognition system to control a service robot
title_full_unstemmed Body gestures recognition system to control a service robot
title_sort Body gestures recognition system to control a service robot
dc.creator.none.fl_str_mv ANABEL MARTIN GONZALEZ
CARLOS FRANCISCO BRITO LOEZA
VICTOR EMANUEL DE ATOCHA UC CETINA
author ANABEL MARTIN GONZALEZ
author_facet ANABEL MARTIN GONZALEZ
CARLOS FRANCISCO BRITO LOEZA
VICTOR EMANUEL DE ATOCHA UC CETINA
author_role author
author2 CARLOS FRANCISCO BRITO LOEZA
VICTOR EMANUEL DE ATOCHA UC CETINA
author2_role author
author
dc.contributor.none.fl_str_mv JOSE L. MEDINA CATZIN
dc.subject.none.fl_str_mv info:eu-repo/classification/cti/7
Intelligent control
Service robots
Gesture recognition
Adaboost
Haar features
topic info:eu-repo/classification/cti/7
Intelligent control
Service robots
Gesture recognition
Adaboost
Haar features
description Personal service robots will be in the short future part ofour world by assisting humans in their daily chores. A highly efficient way of communication withpeople is through basic gestures. In this work, we present an efficient body gestures’ interface that gives the user practical communication to control a personal service robot. The robot can interpret two body gestures ofthe subject and performs actions related to those gestures. The service robot’s setup consists of a Pioneer P3-DX research robot, a Kinect sensor and a portable workstation. The gesture recognition system developed is based on tracking the skeleton of the user to get the body parts relative 3D positions. In addition, the system takes depth images from the sensor and extracts theirHaar features, which will train the Adaboost algorithm to classify the gesture. The system was developed using the ROS framework, showing good performance during experimental evaluation with users. Our body gesture-basedinterface may serve as a baseline to develop practical and natural interfaces to communicate with service robots in the near future.
publishDate 2017
dc.date.none.fl_str_mv 2017-09-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://redi.uady.mx:8080/handle/123456789/768
url http://redi.uady.mx:8080/handle/123456789/768
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/embargoedAccess
http://creativecommons.org/licenses/by-nc-nd/4.0
eu_rights_str_mv embargoedAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0
dc.format.none.fl_str_mv application/pdf
dc.coverage.none.fl_str_mv Investigación aplicada
dc.source.none.fl_str_mv urn:issn:2074-9007
reponame:Repositorio Digital Institucional de la Universidad Autónoma de Yucatán
instname:Universidad Autónoma de Yucatán
instacron:UADY
instname_str Universidad Autónoma de Yucatán
instacron_str UADY
institution UADY
reponame_str Repositorio Digital Institucional de la Universidad Autónoma de Yucatán
collection Repositorio Digital Institucional de la Universidad Autónoma de Yucatán
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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