A 3-D vision-based man-machine interface for hand-controlled telerobot
This work presents a robust telerobotic system that consists of a real-time vision-based operator hand tracking system (client) and a slave robot (server) which are interconnected through a LAN. The tracking system: 1) monitors the operator hand motion and 2) determines its position and orientation...
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2005
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| Online Access: | https://eprints.kfupm.edu.sa/id/eprint/14302/1/14302_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14302/2/14302_2.doc |
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| _version_ | 1864513393719771136 |
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| author | Al-Mouhamed, M.A. |
| author2 | Toker, O. Al-Harthy, A. unknown |
| author2_role | author author author |
| author_facet | Al-Mouhamed, M.A. Toker, O. Al-Harthy, A. unknown |
| author_role | author |
| dc.creator.none.fl_str_mv | Al-Mouhamed, M.A. Toker, O. Al-Harthy, A. unknown |
| dc.date.none.fl_str_mv | 2005-02 2020 |
| dc.format.none.fl_str_mv | application/pdf application/msword |
| dc.identifier.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14302/1/14302_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14302/2/14302_2.doc (2005) A 3-D vision-based man-machine interface for hand-controlled telerobot. Industrial Electronics, IEEE Transactions on, 52. |
| dc.language.none.fl_str_mv | en en |
| dc.publisher.none.fl_str_mv | IEEE |
| dc.relation.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14302/ |
| dc.rights.*.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Computer |
| dc.title.none.fl_str_mv | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| dc.type.none.fl_str_mv | Article PeerReviewed info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This work presents a robust telerobotic system that consists of a real-time vision-based operator hand tracking system (client) and a slave robot (server) which are interconnected through a LAN. The tracking system: 1) monitors the operator hand motion and 2) determines its position and orientation which are used to control the slave robot. Two digital cameras are used to monitor a four-ball-based feature frame that is held by the operator hand. To determine the three-dimensional (3-D) position a tracking algorithm based on uncalibrated cameras with weak perspective projection model is used. This allows finding 3-D differential position and orientation of the operator hand. The features of the proposed system are: 1) a metric for color matching to discriminate the balls from their background; 2) a uniform and spiral search approach to speed up the detection; 3) tracking in the presence of partial occlusion; 4) consolidate detection by using shape and geometric matching; and 5) dynamic update of the reference colors. The operator can see the effects of the previous motion which enables making the necessary corrections through repetitive operator hand-eye interactions. Evaluation shows that the static and dynamic errors of the tracking algorithm are 0.1% and 0.6% for a centered workspace of 20/sup 3/ in/sup 3/ that is 40-60 in away from the cameras. Running the tracking algorithm on two PCs in parallel allowed: 1) a parallel image grabbing delay of 60 ms; 2) a stereo matching delay of 50 ms; and 3) a global refresh rate of 9 Hz. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | KFUPM_7fa0bf3110a357650602ecef79c1598f |
| identifier_str_mv | (2005) A 3-D vision-based man-machine interface for hand-controlled telerobot. Industrial Electronics, IEEE Transactions on, 52. |
| language_invalid_str_mv | en |
| network_acronym_str | KFUPM |
| network_name_str | King Fahd University of Petroleum and Minerals |
| oai_identifier_str | oai::14302 |
| publishDate | 2005 |
| publisher.none.fl_str_mv | IEEE |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | A 3-D vision-based man-machine interface for hand-controlled telerobotAl-Mouhamed, M.A.Toker, O.Al-Harthy, A.unknownComputerThis work presents a robust telerobotic system that consists of a real-time vision-based operator hand tracking system (client) and a slave robot (server) which are interconnected through a LAN. The tracking system: 1) monitors the operator hand motion and 2) determines its position and orientation which are used to control the slave robot. Two digital cameras are used to monitor a four-ball-based feature frame that is held by the operator hand. To determine the three-dimensional (3-D) position a tracking algorithm based on uncalibrated cameras with weak perspective projection model is used. This allows finding 3-D differential position and orientation of the operator hand. The features of the proposed system are: 1) a metric for color matching to discriminate the balls from their background; 2) a uniform and spiral search approach to speed up the detection; 3) tracking in the presence of partial occlusion; 4) consolidate detection by using shape and geometric matching; and 5) dynamic update of the reference colors. The operator can see the effects of the previous motion which enables making the necessary corrections through repetitive operator hand-eye interactions. Evaluation shows that the static and dynamic errors of the tracking algorithm are 0.1% and 0.6% for a centered workspace of 20/sup 3/ in/sup 3/ that is 40-60 in away from the cameras. Running the tracking algorithm on two PCs in parallel allowed: 1) a parallel image grabbing delay of 60 ms; 2) a stereo matching delay of 50 ms; and 3) a global refresh rate of 9 Hz.IEEE2005-022020ArticlePeerReviewedinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/mswordhttps://eprints.kfupm.edu.sa/id/eprint/14302/1/14302_1.pdfhttps://eprints.kfupm.edu.sa/id/eprint/14302/2/14302_2.doc (2005) A 3-D vision-based man-machine interface for hand-controlled telerobot. Industrial Electronics, IEEE Transactions on, 52. enenhttps://eprints.kfupm.edu.sa/id/eprint/14302/info:eu-repo/semantics/openAccessoai::143022019-11-01T14:05:14Z |
| spellingShingle | A 3-D vision-based man-machine interface for hand-controlled telerobot Al-Mouhamed, M.A. Computer |
| status_str | publishedVersion |
| title | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| title_full | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| title_fullStr | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| title_full_unstemmed | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| title_short | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| title_sort | A 3-D vision-based man-machine interface for hand-controlled telerobot |
| topic | Computer |
| url | https://eprints.kfupm.edu.sa/id/eprint/14302/1/14302_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14302/2/14302_2.doc |