SIA OpenIR  > 空间自动化技术研究室
Dual-hand detection for human-robot interaction by a parallel network based on hand detection and body pose estimation
Gao Q(高庆)1,2,3; Liu JG(刘金国)1; Ju ZJ(琚兆杰)1,3; Zhang X(张鑫)1,2
Department空间自动化技术研究室
Source PublicationIEEE Transactions on Industrial Electronics
ISSN0278-0046
2019
Volume66Issue:12Pages:9663-9672
Indexed BySCI ; EI
EI Accession number20193307309111
WOS IDWOS:000480309400056
Contribution Rank1
KeywordAstraunaut assistant robot dual-hand detection human body estimation human–robot interaction parallel deep neural network
AbstractIn this paper, a parallel network based on hand detection and body pose estimation is proposed to detect and distinguish human's right and left hands. The network is employed for human-robot interaction (HRI) based on hand gestures. This method fully uses hand feature information and hand information in the human body structure. One channel in the network uses a ResNet-Inception-Single Shot MultiBox Detector to extract hand feature information for human's hand detection. The other channel estimates human body pose first and then estimates the positions of the left and right hands using the forward kinematic tree of the human skeleton structure. Thereafter, the results of the two channels are fused. In the fusion module, the human body structure can be utilized to correct hand detection results and distinguish between the right and left hands. Experimental results verify that the parallel deep neural network can effectively improve the accuracy of hand detection and distinguish between the right and left hands effectively. This method is also used for the hand-gesture-based interaction between astronauts and an astronaut assistant robot. Our method can be suitably used in this HRI system.
Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Funding ProjectNatural Science Foundation of China[51575412] ; CAS Interdisciplinary Innovation Team[JCTD-2018-11] ; Natural Science Foundation of China[51775541] ; National Key R&D Program of China[2018YFB1304600] ; National Key R&D Program of China[2018YFB1304600] ; Natural Science Foundation of China[51775541] ; CAS Interdisciplinary Innovation Team[JCTD-2018-11] ; Natural Science Foundation of China[51575412]
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25464
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.School of Computing, University of Portsmouth, Portsmouth, PO1 3HE, United Kingdom
Recommended Citation
GB/T 7714
Gao Q,Liu JG,Ju ZJ,et al. Dual-hand detection for human-robot interaction by a parallel network based on hand detection and body pose estimation[J]. IEEE Transactions on Industrial Electronics,2019,66(12):9663-9672.
APA Gao Q,Liu JG,Ju ZJ,&Zhang X.(2019).Dual-hand detection for human-robot interaction by a parallel network based on hand detection and body pose estimation.IEEE Transactions on Industrial Electronics,66(12),9663-9672.
MLA Gao Q,et al."Dual-hand detection for human-robot interaction by a parallel network based on hand detection and body pose estimation".IEEE Transactions on Industrial Electronics 66.12(2019):9663-9672.
Files in This Item: Download All
File Name/Size DocType Version Access License
Dual-hand detection (3529KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gao Q(高庆)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gao Q(高庆)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gao Q(高庆)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Dual-hand detection for human-robot interaction by a parallel network based on hand detection and body pose estimation.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.