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Glove-based gesture recognition for real-time outdoors robot control

Abstract : Although gesture recognition has been studied for several decades, much research stays in the realm of indoors laboratory experiments. In this thesis, we address the problem of designing a truly usable, real- world gesture recognition system, focusing mainly on the real-time control of an outdoors robot for use by military soldiers. The main contribution of this thesis is the development of a real-time gesture recognition pipeline, which can be taught in a few minutes with: very sparse input ("small data"); freely user-invented gestures; resilience to user mistakes during training; and low computation requirements. This is achieved thanks to two key innovations: first, a stream-enabled, DTW-inspired technique to compute distances between time series; and second, an efficient stream history analysis procedure to automatically determine model hyperparameters without user intervention. Additionally, a custom, hardened data glove was built and used to demonstrate successful gesture recognition and real-time robot control. We finally show this work's flexibility by furthermore using it beyond robot control to drive other kinds of controllable systems.
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Submitted on : Tuesday, September 26, 2017 - 2:58:17 PM
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  • HAL Id : tel-01593612, version 1

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Marc Dupont. Glove-based gesture recognition for real-time outdoors robot control. Automatic. Université de Bretagne Sud, 2017. English. ⟨NNT : 2017LORIS437⟩. ⟨tel-01593612⟩

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