Realtime Hand Posture Estimation with Self-Organizing Map for Stable Robot Control

Authors:
Kiyoshi Hoshino;Takanobu Tanimoto
Affiliations:
The authors are with the Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba-shi, 305--8573 Japan. E-mail: hoshino@esys.tsukuba.ac.jp;The authors are with the Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba-shi, 305--8573 Japan. E-mail: hoshino@esys.tsukuba.ac.jp
Venue:
IEICE - Transactions on Information and Systems
Year:
2006

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Abstract

The hand posture estimation system by searching a similar image from a vast database, such as our previous research, may cause the increase of processing time, and prevent realtime controlling of a robot. In this study, the authors proposed a new estimation method of human hand posture by rearranging a large-scale database with the Self-Organizing Map including self-reproduction and self-annihilation, which enables two-step searches of similar image with short period of processing time, within small errors, and without deviation of search time. The experimental results showed that our system exhibited good performance with high accuracy within processing time above 50 fps for each image input with a 2.8 GHz CPU PC.