基于多Leap Motion的手势遥控无人平台方法研究
详细信息 查看官网全文
- 英文论文题名：Research on Gesture Control Unmanned Platform Based on Multi-Leap Motion
- 论文作者：王天行 ; 杨佩 ; 周献中 ; 陈姣 ; 章慧钰
- 英文论文作者：WANG Tian-xing ; YANG Pei ; ZHOU Xian-zhong ; CHEN Jiao ; ZHANG Hui-yu ; Department of Control & System Engineering ; Nanjing University ; Research Center for Novel Technology of Intelligent Equipment at Nanjing University
- 年：2017
- 作者机构：南京大学控制与系统工程系;南京大学智能装备新技术研究中心;
- 论文关键词：无人平台 ; 遥控 ; Leap Motion ; 手势
- 英文论文关键词：Unmanned Platform ; Remote Control ; Leap Motion ; Gesture
- 会议召开时间：2017-07-03
- 会议录名称：第五届中国指挥控制大会论文集
- 语种：中文
- 分类号：TP391.41;TP872
- 学会代码：ZHKZ
- 会议名称：第五届中国指挥控制大会
- 会议地点：中国北京
- 主办单位：中国指挥与控制学会
- 学会名称：中国指挥与控制学会
- 页数：5
- 文件大小：903k
- 原文格式：D
- 会议级别：全国
摘要
为促进当前无人平台遥控的发展,本文提出了一种基于多Leap Motion的手势识别工作空间的设计方法。在此基础上,利用基于规则的分类和基于SVM的分类相结合的分类方法完成对遥控手势库的设计。最后以一个小型无人小车作为无人平台的典型对象,模拟月球表面复杂未知环境,完成对无人平台的一系列遥控任务,验证了这种方法的有效性和可行性。
In order to promote the development of unmanned platform remote control, this paper presents a design of gesture recognition workspace based on multi-Leap Motion. On this basis, the design of remote control gesture library is completed by the classification method based on rule classification and SVM-based classification. Finally, a small unmanned car is taken as a typical object of unmanned platform. Simulating the unknown environment of the moon surface, the paper completes a series of unmanned platform remote control tasks and verifies the effectiveness and feasibility of this method.
In order to promote the development of unmanned platform remote control, this paper presents a design of gesture recognition workspace based on multi-Leap Motion. On this basis, the design of remote control gesture library is completed by the classification method based on rule classification and SVM-based classification. Finally, a small unmanned car is taken as a typical object of unmanned platform. Simulating the unknown environment of the moon surface, the paper completes a series of unmanned platform remote control tasks and verifies the effectiveness and feasibility of this method.
引文
[1]牛轶峰,沈林成,戴斌,等.无人作战系统发展[J].国防科技,2009,30(5):1-11.
[2]宋辉,袁冬莉.无人机地面站键盘操作台的设计与实现[J].机电一体化,2009,15(12):52-53.
[3]梁鉴如,都庆庆,刘明,等.一种运动小车的触摸屏控制系统,CN203324812U[P].2013.
[4]孔春梅.语音技术在无人机操控与显示系统中的应用[J].中国航空学会控制与应用第十三届学术年会,2009.
[5]Vizzini A.METHOD AND SYSTEM FOR CONTROLLING MANNED AND UNMANNED AIRCRAFT USING SPEECH RECOGNITION TOOLS:US,US20080065275[P].2008.
[6]钱俊磊,王栋,王雪,等.基于头盔式眼镜显示的机器人遥控系统设计[J].科学时代,2014(8).
[7]Palinko O,Rea F,Sandini G,et al.Eye tracking for human robot interaction[C].Biennial ACM Symposium.ACM,2016:327-328.
[8]陈妮,何华光,颜焕欢.脑电控制智能小车创新实训系统的设计[J].实验室研究与探索,2016,35(9):231-234.
[9]Choi Y,Park J,Shin D.EEG Sensor Based Semi-Supervised Inattention Prediction Framework For Unmanned Aerial Vehicles[J].Urban Studies,2015.
[10]蒋本立,张小平.基于数据手套的遥控小车控制系统[J].计算技术与自动化,2016,35(4):45-50.
[11]李辉,芦利斌,金国栋.基于手势识别的四旋翼控制系统[J].现代计算机,2015(17):56-59.
[12]Wei L,Jin X,Wu Z,et al.A Real-Time Gesture-Based Unmanned Aerial Vehicle Control System[M]//Advances in Multimedia Information Processing-PCM 2016.Springer International Publishing,2016.
[13]胡弘,晁建刚,杨进,等.Leap Motion关键点模型手姿态估计方法[J].计算机辅助设计与图形学学报,2015(7):1211-1216.
[14]胡寿松.自动控制原理(第四版)[M].北京:科学出版社,2001.
[15]Kumar K S S V,Harsha Y S S,Prasath R E.Constantly functioning adruino based solar tracker enabled solar panels coupled with hydrogen fuel cell[C].International Conference on Green Computing,Communication and Conservation of Energy.2013:433-438.
[16]Hu T J,Zhu X J,Wang X Q,et al.Human stochastic closed-loop behavior for master-slave teleoperation using multi-leap-motion sensor[J].Science China Technological Sciences,2017:1-11.
[17]徐崇斌,周明全,沈俊辰,等.一种基于Leap Motion的直观体交互技术[J].电子与信息学报,2015,37(2):353-359.
[18]潘佳佳,徐昆.基于Leap Motion的三维自由手势操作[J].中国科技论文,2015,10(2):207-212.
[19]Chang C C,Lin C J.LIBSVM:A library for support vector machines[J].Acm Transactions on Intelligent Systems&Technology,2007,2(3,article 27):27.
[20]陈伟.单目视觉移动机器人的定位与建图研究[D].国防科学技术大学,2008.
[2]宋辉,袁冬莉.无人机地面站键盘操作台的设计与实现[J].机电一体化,2009,15(12):52-53.
[3]梁鉴如,都庆庆,刘明,等.一种运动小车的触摸屏控制系统,CN203324812U[P].2013.
[4]孔春梅.语音技术在无人机操控与显示系统中的应用[J].中国航空学会控制与应用第十三届学术年会,2009.
[5]Vizzini A.METHOD AND SYSTEM FOR CONTROLLING MANNED AND UNMANNED AIRCRAFT USING SPEECH RECOGNITION TOOLS:US,US20080065275[P].2008.
[6]钱俊磊,王栋,王雪,等.基于头盔式眼镜显示的机器人遥控系统设计[J].科学时代,2014(8).
[7]Palinko O,Rea F,Sandini G,et al.Eye tracking for human robot interaction[C].Biennial ACM Symposium.ACM,2016:327-328.
[8]陈妮,何华光,颜焕欢.脑电控制智能小车创新实训系统的设计[J].实验室研究与探索,2016,35(9):231-234.
[9]Choi Y,Park J,Shin D.EEG Sensor Based Semi-Supervised Inattention Prediction Framework For Unmanned Aerial Vehicles[J].Urban Studies,2015.
[10]蒋本立,张小平.基于数据手套的遥控小车控制系统[J].计算技术与自动化,2016,35(4):45-50.
[11]李辉,芦利斌,金国栋.基于手势识别的四旋翼控制系统[J].现代计算机,2015(17):56-59.
[12]Wei L,Jin X,Wu Z,et al.A Real-Time Gesture-Based Unmanned Aerial Vehicle Control System[M]//Advances in Multimedia Information Processing-PCM 2016.Springer International Publishing,2016.
[13]胡弘,晁建刚,杨进,等.Leap Motion关键点模型手姿态估计方法[J].计算机辅助设计与图形学学报,2015(7):1211-1216.
[14]胡寿松.自动控制原理(第四版)[M].北京:科学出版社,2001.
[15]Kumar K S S V,Harsha Y S S,Prasath R E.Constantly functioning adruino based solar tracker enabled solar panels coupled with hydrogen fuel cell[C].International Conference on Green Computing,Communication and Conservation of Energy.2013:433-438.
[16]Hu T J,Zhu X J,Wang X Q,et al.Human stochastic closed-loop behavior for master-slave teleoperation using multi-leap-motion sensor[J].Science China Technological Sciences,2017:1-11.
[17]徐崇斌,周明全,沈俊辰,等.一种基于Leap Motion的直观体交互技术[J].电子与信息学报,2015,37(2):353-359.
[18]潘佳佳,徐昆.基于Leap Motion的三维自由手势操作[J].中国科技论文,2015,10(2):207-212.
[19]Chang C C,Lin C J.LIBSVM:A library for support vector machines[J].Acm Transactions on Intelligent Systems&Technology,2007,2(3,article 27):27.
[20]陈伟.单目视觉移动机器人的定位与建图研究[D].国防科学技术大学,2008.