Gestural teleoperation of a mobile robot based on visual recognition of sign language static handshapes

Tzafestas, C; Mitsou, N; Georgakarakos, N; Diamanti, O; Maragos, P; Fotinea, S-E; Efthimiou, E

dc.contributor.author	Tzafestas, C	en
dc.contributor.author	Mitsou, N	en
dc.contributor.author	Georgakarakos, N	en
dc.contributor.author	Diamanti, O	en
dc.contributor.author	Maragos, P	en
dc.contributor.author	Fotinea, S-E	en
dc.contributor.author	Efthimiou, E	en
dc.date.accessioned	2014-03-01T02:46:10Z
dc.date.available	2014-03-01T02:46:10Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32588
dc.subject	Graphic User Interface	en
dc.subject	Mlp Neural Network	en
dc.subject	Mobile Robot	en
dc.subject	Real-time Visualization	en
dc.subject	Shape Descriptor	en
dc.subject	Sign Language	en
dc.subject	Visual Analysis	en
dc.subject	Greek Sign Language	en
dc.subject	Multi Layer Perceptron	en
dc.subject	Real Time	en
dc.subject.other	Fourier	en
dc.subject.other	Hand images	en
dc.subject.other	Hand posture	en
dc.subject.other	Multi layer perceptron	en
dc.subject.other	Pilot applications	en
dc.subject.other	Real time recognition	en
dc.subject.other	Recognition performance	en
dc.subject.other	Shape descriptors	en
dc.subject.other	Sign images	en
dc.subject.other	Sign language	en
dc.subject.other	Sign recognition	en
dc.subject.other	Tele-operations	en
dc.subject.other	Telerobotic control	en
dc.subject.other	Visual analysis	en
dc.subject.other	Visual recognition	en
dc.subject.other	Graphical user interfaces	en
dc.subject.other	Linguistics	en
dc.subject.other	Mobile robots	en
dc.subject.other	Neural networks	en
dc.subject.other	Remote control	en
dc.subject.other	Roads and streets	en
dc.subject.other	Wireless networks	en
dc.title	Gestural teleoperation of a mobile robot based on visual recognition of sign language static handshapes	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROMAN.2009.5326235	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROMAN.2009.5326235	en
heal.identifier.secondary	5326235	en
heal.publicationDate	2009	en
heal.abstract	This paper presents results achieved in the frames of a national research project (titled ""DIANOEMA""), where visual analysis and sign recognition techniques have been explored on Greek Sign Language (GSL) data. Besides GSL modelling, the aim was to develop a pilot application for teleoperating a mobile robot using natural hand signs. A small vocabulary of hand signs has been designed to enable desktop-based teleoperation at a high-level of supervisory telerobotic control. Real-time visual recognition of the hand images is performed by training a multi-layer perceptron (MLP) neural network. Various shape descriptors of the segmented hand posture images have been explored as inputs to the MLP network. These include Fourier shape descriptors on the contour of the segmented hand sign images, moments, compactness, eccentricity, and histogram of the curvature. We have examined which of these shape descriptors are best suited for real-time recognition of hand signs, in relation to the number and choice of hand postures, in order to achieve maximum recognition performance. The hand-sign recognizer has been integrated in a graphical user interface, and has been implemented with success on a pilot application for real-time desktop-based gestural teleoperation of a mobile robot vehicle. © 2009 IEEE.	en
heal.journalName	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication	en
dc.identifier.doi	10.1109/ROMAN.2009.5326235	en
dc.identifier.spage	1073	en
dc.identifier.epage	1079	en