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Hand Detection and Location Based on Improved SSD for Space Human-Robot Interaction
Gao Q(高庆)1,2; Liu JG(刘金国)1; Ju ZJ(琚兆杰)3; Zhang, Lu4; Li YM(李杨民)5; Liu YW(刘玉旺)1
作者部门空间自动化技术研究室
会议名称11th International Conference on Intelligent Robotics and Applications, ICIRA 2018
会议日期August 9-11, 2018
会议地点Newcastle, NSW, Australia
会议录名称Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
出版者Springer Verlag
出版地Berlin
2018
页码164-175
收录类别EI
EI收录号20183405735327
产权排序1
ISSN号0302-9743
ISBN号978-3-319-97585-6
关键词Human-robot interaction Hands detection SSD Deep learning
摘要In the astronaut-space robot interaction based on hand gestures, the detection and location of hands are the premise and basis of vision-based hand gesture recognition and hand tracking. In this paper, the SSD (Single Shot Multibox Detector) which is a kind of deep learning model is utilized to detect and locate astronaut’s hands for space human-robot interaction (SHRI) based on hand gestures. First of all, in order to meet the needs of hand detection and location, an improved SSD model is designed to detect hands when they are shown as small targets in images. Then, a platform for SHRI is built and a set of hand gestures for SHRI are designed. Finally, the proposed SSD model is validated experimentally on a homemade hand gesture database for proving the superiority of this improved SSD model to small target hands detection.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22730
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of the Chinese Academy of Science, Beijing 100049, China
3.School of Computing, University of Portsmouth, Portsmouth, PO1 3HE, United Kingdom
4.Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China
5.Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, 999077, Hong Kong
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GB/T 7714
Gao Q,Liu JG,Ju ZJ,et al. Hand Detection and Location Based on Improved SSD for Space Human-Robot Interaction[C]. Berlin:Springer Verlag,2018:164-175.
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