Visual gesture recognition for human-machine interface of robot teleoperation

摘要

This paper presents a new visual gesture recognition method for the human-machine interface of mobile robot teleoperation. The interface uses seven static hand gestures, each of which represents an individual control command for the motion control of the remote robot. All the important aspects to develop such an interface are explored, including image acquisition, adaptive object segmentation with color image in RGB, HLS representation, morphological filtering, hand finding and labeling, and recognition with edge codes, template matching, and skeletonizing. By choosing processing methods and procedures properly, a higher ratio of correct recognition and a faster speed are achieved from the experiments.