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Vision following method based on monocular gesture recognition

A gesture recognition and gesture technology, which is applied in the control of finding targets, two-dimensional position/channel control, and input/output process of data processing, etc. problem, to achieve the effect of high tracking accuracy, easy and precise tracking, and easy to master

Active Publication Date: 2017-03-15
NANJING AVATARMIND ROBOT TECH CO LTD
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] 1. The color block following method is used to track according to the specified initial color block. Due to the defects of the color block following method, the target is very easy to follow;
[0004] 2. The operation is cumbersome, and it is difficult for users to understand the key points of the operation

Method used

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  • Vision following method based on monocular gesture recognition
  • Vision following method based on monocular gesture recognition
  • Vision following method based on monocular gesture recognition

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Embodiment Construction

[0063] A visual following method based on monocular gesture recognition proposed by the present invention will be described in detail below in conjunction with the accompanying drawings, taking a human body as an example of a tracking target.

[0064] 1) if figure 1 As shown, the robot takes the first scene picture including human gestures through the camera module, and the picture resolution is W1*H1; it is agreed that the coordinates of the first point in the upper left corner of the captured picture are (1,1), and the last The coordinates of a point are (W1, H1); gestures can be marked by the palm or fingers, or other organs.

[0065] 2) if figure 2 As shown, the robot recognizes the gestures of the human body, and through the gesture recognition software, recognizes the gestures of the human body (such as the front palm), and obtains the position and size parameters of the gesture in the picture frame:

[0066] X1: The x-axis starting point of the gesture in the first sce...

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Abstract

The invention discloses a vision following method based on monocular gesture recognition. Through the recognition for a feature gesture, an accurate space bias rate of a robot and an initial position is acquired in real time, the accurate tracking is easily realized and the following action is more natural. An accurate distance between a tracking object and the robot is acquired under an initial state; through the recognition for the feature gesture, an accurate relative distance between the robot and people can be acquired in real time; the tracking precision is relatively high. According to the following method, the accuracy rate is higher than the accuracy rate of color lump following; the cost of the following method is greatly lower than that of a 3D sensing scheme; the tracking accuracy is greatly improved; the user interaction is smooth; the operation key points can be easily mastered; the use is convenient.

Description

technical field [0001] The invention relates to the technical field of robot monitoring, in particular to a visual following method based on monocular gesture recognition. Background technique [0002] At present, most household service robots have a monocular camera. Most of the human body following systems based on a monocular camera use the method of color block following. When the program is started, a preview area of ​​the monocular camera is specified, and it is followed continuously during the subsequent target movement. target walking. But this method has the following defects: [0003] 1. The color block following method is used to track according to the specified initial color block. Due to the defects of the color block following method, the target is very easy to follow; [0004] 2. The operation is cumbersome, and it is difficult for users to understand the main points of operation. Contents of the invention [0005] The problem to be solved by the present ...

Claims

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Application Information

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IPC IPC(8): G06F3/01G05D1/02G05D1/12
CPCG05D1/0246G05D1/12G06F3/017
Inventor 张雷
Owner NANJING AVATARMIND ROBOT TECH CO LTD
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