A Real-time Human-Robot Interaction Framework with Robust Background Invariant Hand Gesture Detection

Osama Mazhar,Benjamin Navarro,Sofiane Ramdani,Robin Passama,Andrea Cherubini

Robotics and Computer-Integrated Manufacturing（2019）

引用 113|浏览74

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摘要

•Kinect V2 is integrated with OpenPose to get a 3D estimate of human skeleton.•Background invariant hand gesture detector is trained by background substitution.•Inception V3 is adapted for 10 static hand gestures from American Sign Language.•Our safe pHRI library OpenPHRI is integrated to ensure effective and safe robot control.•Teaching by gestures is presented while safety is guaranteed by separation distance monitoring.

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关键词

Physical human-robot interaction,Safe collaborative robotics,Convolutional neural networks,Real-time vision,Transfer learning

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