| Paper Abstract and Keywords |
| Presentation |
2010-10-18 16:30
Hand pose estimation for precise operation of a gesture-driven robot
Takuya Kasahara, Motomasa Tomida, Kiyoshi Hoshino (Univ. of Tsukuba) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
Self-occlusions occur in 3D hand pose estimation with a single camera, which will cause improper behaviors in a robot hand, especially in its grasping and pinching due to the occlusion of the thumb. This study therefore proposes an optimal usage of two cameras for a 3D hand pose estimation, so as to prevent the occlusion and improve the behavior of the robot. Our system adopts two high-speed cameras as a major and minor, whose directions are perpendicularly intersecting. Hand images, image features, and joint angle data are recorded from two cameras and paired in every dataset of the database for searching the most similar hand image with an inputted hand image. The experimental results show that the estimation errors decrease in all finger joints as well as wrist rotation, compared with those with single camera, which indicates the effectiveness of the proposed method. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
hand pose estimation / grasping of object / self-occlusion / / / / / |
| Reference Info. |
ITE Tech. Rep., vol. 34, no. 41, HI2010-100, pp. 25-28, Oct. 2010. |
| Paper # |
HI2010-100 |
| Date of Issue |
2010-10-11 (IDY, HI, 3DIT) |
| ISSN |
Print edition: ISSN 1342-6893 |
| Download PDF |
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| Conference Information |
| Committee |
IDY HI 3DMT IEICE-EID |
| Conference Date |
2010-10-18 - 2010-10-18 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Kikai-Shinko-Kaikan Bldg |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
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| Paper Information |
| Registration To |
HI |
| Conference Code |
2010-10-IDY-HI-3DIT-EID |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Hand pose estimation for precise operation of a gesture-driven robot |
| Sub Title (in English) |
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| Keyword(1) |
hand pose estimation |
| Keyword(2) |
grasping of object |
| Keyword(3) |
self-occlusion |
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| 1st Author's Name |
Takuya Kasahara |
| 1st Author's Affiliation |
University of Tsukuba (Univ. of Tsukuba) |
| 2nd Author's Name |
Motomasa Tomida |
| 2nd Author's Affiliation |
University of Tsukuba (Univ. of Tsukuba) |
| 3rd Author's Name |
Kiyoshi Hoshino |
| 3rd Author's Affiliation |
University of Tsukuba (Univ. of Tsukuba) |
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| Speaker |
Author-1 |
| Date Time |
2010-10-18 16:30:00 |
| Presentation Time |
30 minutes |
| Registration for |
HI |
| Paper # |
IDY2010-58, HI2010-100, 3DIT2010-61 |
| Volume (vol) |
vol.34 |
| Number (no) |
no.41 |
| Page |
pp.25-28 |
| #Pages |
4 |
| Date of Issue |
2010-10-11 (IDY, HI, 3DIT) |
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