A novel real-time gesture recognition algorithm for human-robot interaction on the UAV

摘要

This paper provides a new real-time gesture recognition technology for Unmanned Aerial Vehicle (UAV) Control. Despite of the tradition robot controlling system that uses the pre-defined program to control the UAV, this system allows the users to on-line design and control the UAV to finish the abrupt urgent task with different gestures. The system is composed of three parts: On-line personal feature training system, Gesture recognition system and UAV motion control system. In the first part, we collect and analyze user gestures, extract features data and train the recognition program in real time. In the second part, a multi-feature hierarchical filtering algorithm is applied to guarantee both the accuracy and real-time processing speed of our gesture recognition method. In the last part, the gesture recognition result is translated to a UAV through a data transmitter based on Mavlink protocol to achieve the human on-line control for the UAV. Through two extensive experiments, the effectiveness and efficiency of our method has been confirmed.