A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-01
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
To achieve Human-Robot Interaction (HRI) by using gestures, a continuous gesture recognition approach based on Multilayer Hidden Markov Models (MHMMs) is proposed, which consists of two parts.
One part is gesture spotting and segment module, the other part is continuous gesture recognition module.
Firstly, a Kinect sensor is used to capture 3D acceleration and 3D angular velocity data of hand gestures.
And then, a Feed-forward Neural Networks (FNNs) and a threshold criterion are used for gesture spotting and segment, respectively.
Afterwards, the segmented gesture signals are respectively preprocessed and vector symbolized by a sliding window and a K-means clustering method.
Finally, symbolized data are sent into Lower Hidden Markov Models (LHMMs) to identify individual gestures, and then, a Bayesian filter with sequential constraints among gestures in Upper Hidden Markov Models (UHMMs) is used to correct recognition errors created in LHMMs.
Five predefined gestures are used to interact with a Kinect mobile robot in experiments.
The experimental results show that the proposed method not only has good effectiveness and accuracy, but also has favorable real-time performance.
American Psychological Association (APA)
Tao, Chongben& Liu, Guodong. 2013. A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1009206
Modern Language Association (MLA)
Tao, Chongben& Liu, Guodong. A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction. Mathematical Problems in Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-1009206
American Medical Association (AMA)
Tao, Chongben& Liu, Guodong. A Multilayer Hidden Markov Models-Based Method for Human-Robot Interaction. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1009206
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009206