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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
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Conference Information
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)  
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)  
Keyword(1) hand pose estimation  
Keyword(2) grasping of object  
Keyword(3) self-occlusion  
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 
Date of Issue 2010-10-11 (IDY, HI, 3DIT) 

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