Kinect-Based Vision System of Mine Rescue Robot for Low Illuminous Environment

摘要

This paper presents Kinect-based vision system of mine rescue robot working in illuminous underground environment. The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. AK-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot.