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손 동작 인식을 이용한 이동로봇의 주행
Navigation of a Mobile Robot Using Hand Gesture Recognition

김일명   (부산대학교 전자공학과UU0000613  ); 김완철   (부산대학교 전자공학과UU0000613  ); 윤경식   (부산대학교 전자공학과UU0000613  ); 이장명   (부산대학교 전자공학과UU0000613  );
  • 초록

    A new method to govern the navigation of a mobile robot using hand gesture recognition is proposed based on the following two procedures. One is to achieve vision information by using a 2-DOF camera as a communicating medium between a man and a mobile robot and the other is to analyze and to control the mobile robot according to the recognized hand gesture commands. In the previous researches, mobile robots are passively to move through landmarks, beacons, etc. In this paper, to incorporate various changes of situation, a new control system that manages the dynamical navigation of mobile robot is proposed. Moreover, without any generally used expensive equipments or complex algorithms for hand gesture recognition, a reliable hand gesture recognition system is efficiently implemented to convey the human commands to the mobile robot with a few constraints.


  • 주제어

    mobile robot .   hand gesture recognition .   2-DOF active camera.  

  • 참고문헌 (16)

    1. Vladimir I. Pavlovic, Rajeev Sharma and Thomas S. Huang, 'Visual interpretation of hand gestures for human-computer interaction: A review, I' IEEE Trans. on Pattern Analysis and machine Intelligence, vol. 18, no. 7, July 1997 
    2. 김성은, 조강현, '얼굴 방향과 손동작 인식을 통한 Agent간의 상호작용,' 한국자동제어학술회의논문집(KACC), pp. b132-b135, 1999 
    3. T. Ahmade, C. J. Taylor, A.Lanitis, and T.F.Cootes, 'Tracking and recognising hand gestures, using shape models,' ELSEVIER. Image and Vision Computing, vol. 15,pp. 345-352,1997 
    4. Yilin. Zhao and Spencer L. BeMent, 'Kinematics, Dynamics and Control of Wheeled Mobile Robots,' IEEE Conf. Robotics and Automation, pp. 91-96, 5. 1992 
    5. F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators, Macmillan, 1993 
    6. Robert M. Haralick and Linda G. Shapiro, Computer and Robot Vision, Addison-Wesley, 1993 
    7. I. Pitas, Digital Image Processing Algorithms and Applications, JOHN WILEY & SONS, 1999 
    8. Milan Sonka, Vaclav Hlavac, and Roger Boyle, Image Processing, Analysis and Machine Vision CHAPMAN & HALL COMPUTING 1993 
    9. Gerhard X. Ritter, Joseph N. Wilson Computer Vision Algorithms in Image Algebra CRC 2000 
    10. C. Stiller and J. Konarad, 'Estiamting motion in image sequences: A tutorial on modeling and computation of 20 motion,' IEEE Singal Processing Magazine, pp. 1053-5888, 1998 
    11. T. S. Hunang and V. I. Pavloic, 'Hand gesture modeling, analysis, and synthesis.' Proc. of International Workshop on Automatic Face-and Gesture-Recognition, pp. 73-79, Zurich, June, 1995 
    12. Jhon. J. Leonard and Hugh F, Durrant-Whyte, 'Mobile robot localization by tracking geometric beacons,' IEEE Trans. Robotics and Automation, vol. 7, no. 3, pp. 376-382, June 1991 
    13. M. Betke et al., 'Mobile robot localization using landmarks,' Proc. of the IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems, pp. 135-142, 1994 
    14. J. Davis and M. Shah, 'Visual gesture recognition,' IEE Proc-Vis Image Signal Process. vol. 141, no. 2, April 1994 
    15. D. J. Gavria, 'The visual analysis of human movement: A survey,' IDEAL Computer Vision and Image Understanding, vol. 73, no. I, pp. 82-98, January. 1999 
    16. B. W. Min, 'Gesture recognition and application,' The Magazine of the IEEK, vol 2. no. 8, pp. 704-711, June, 1996 
  • 이 논문을 인용한 문헌 (5)

    1. 2003. "" International Journal of Control, Automation and Systems, 1(4): 495~502     
    2. Shon, Su-Won ; Beh, Joung-Hoon ; Yang, Cheol-Jong ; Wang, Han ; Ko, Han-Seok 2011. "Robot User Control System using Hand Gesture Recognizer" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 17(4): 368~374     
    3. Kim, A-Ram ; Rhee, Sang-Yong 2012. "Recognition of Natural Hand Gesture by Using HMM" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 22(5): 639~645     
    4. Kim, A-Ram ; Rhee, Sang-Yong 2014. "Motion Control of a Mobile Robot Using Natural Hand Gesture" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 24(1): 64~70     
    5. Lee, Changmin ; Kim, DaeEun 2014. "Hand Shape Classification using Contour Distribution" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 20(6): 593~598     

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  • 김완철 (1)

  • 윤경식 (3)

  • 이장명 (101)

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