Hand trajectory recognition method for following robot based on hand velocity and trajectory distribution

Abstract

A hand trajectory recognition method for a following robot based on hand velocity and trajectory distribution comprises: sampling and photographing an operator by a kinect camera to obtain hand projection plane data; smoothing the hand projection plane data by moving average, establishing velocity vectors, and processing the velocity vectors to obtain a hand movement descriptor; establishing a hand movement area, traversing hand three-dimensional positions of all frames in an order of sampling and photographing, assigning a mesh where the hand three-dimensional position of each frame is located, and calculating centroid positions of all assigned meshes; establishing centroid directing vectors, and processing the centroid directing vectors to obtain a hand trajectory shape descriptor; and processing cosine values of two angles to obtain a common similarity of the movement descriptor and the trajectory shape descriptor to standard descriptors, and using a standard gesture with a maximum common similarity as a result. The present invention can accurately recognize the class of a gesture, is insensitive to the translation, scaling, rotation and order of hand trajectories, is high in flexibility and can save time and energy.