3D visual sensing of human hand for remote operation of a robotic hand

New low cost sensors and open free libraries for 3D image processing are making important advances in robot vision applications possible, such as three-dimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a novel method for recognizing and tracking the fingers of a human hand is presented. This method is based on point clouds from range images captured by a RGBD sensor. It works in real time and it does not require visual marks, camera calibration or previous knowledge of the environment. Moreover, it works successfully even when multiple objects appear in the scene or when the ambient light is changed. Furthermore, this method was designed to develop a human interface to control domestic or industrial devices, remotely. In this paper, the method was tested by operating a robotic hand. Firstly, the human hand was recognized and the fingers were detected. Secondly, the movement of the fingers was analysed and mapped to be imitated by a robotic hand.

A Performance Evaluation of Surface Normals-Based Descriptors for Recognition of Objects using CAD-Models

This paper describes a study and analysis of surface normal-base descriptors for 3D object recognition. Specifically, we evaluate the behaviour of descriptors in the recognition process using virtual models of objects created from CAD software. Later, we test them in real scenes using synthetic objects created with a 3D printer from the virtual models. In both cases, the same virtual models are used on the matching process to find similarity. The difference between both experiments is in the type of views used in the tests. Our analysis evaluates three subjects: the effectiveness of 3D descriptors depending on the viewpoint of camera, the geometry complexity of the model and the runtime used to do the recognition process and the success rate to recognize a view of object among the models saved in the database.

Visual perception for the 3D recognition of geometric pieces in robotic manipulation

During grasping and intelligent robotic manipulation tasks, the camera position relative to the scene changes dramatically because the robot is moving to adapt its path and correctly grasp objects. This is because the camera is mounted at the robot effector. For this reason, in this type of environment, a visual recognition system must be implemented to recognize and “automatically and autonomously” obtain the positions of objects in the scene. Furthermore, in industrial environments, all objects that are manipulated by robots are made of the same material and cannot be differentiated by features such as texture or color. In this work, first, a study and analysis of 3D recognition descriptors has been completed for application in these environments. Second, a visual recognition system designed from specific distributed client-server architecture has been proposed to be applied in the recognition process of industrial objects without these appearance features. Our system has been implemented to overcome problems of recognition when the objects can only be recognized by geometric shape and the simplicity of shapes could create ambiguity. Finally, some real tests are performed and illustrated to verify the satisfactory performance of the proposed system.

The present administration. : Speech of Hon. Charles E. Townsend, of Michigan, in the House of representatives, Monday, February 3, 1908.

Caption title.

Amending the Immigration and nationality act, and for other purposes : report together with additional views to accompany H.R. 982.

Submitted by Mr. Joshua Eilberg.

U.S. immigration policy and the national interest : the final report and recommendations of the Select Commission on Immigration and Refugee Policy with supplemental views by commissioners.

"Submitted to the Congress and the President of the United States pursuant to Public Law 95-412."

Immigration Reform and Control Act of 1982 : Mr. Rodino, from the Committee on the Judiciary, submitted the following report together with additional and dissenting views (to accompany H.R. 6514) (including cost estimate of the Congressional Budget Office).

"September 28, 1982."

U.S. policy toward Panama, 1903-present : questions of recognition and diplomatic relations and instances of U.S. intervention.

"Reprint from the Department of State Bulletin, April 22, 1974. Research Project no. 1066c (Revised)."

The migratory farm labor problem in the United States : a report, together with individual views, to the Committee on Labor and Public Welfare, United States Senate, made by its Subcommittee on Migratory Labor, pursuant to S. Res. 267 (86th Cong., 2d sess.) a resolution authorizing a study of the problems of migratory labor.

Cover title.

Recognition; with an outline of a theory of knowledge.

Mode of access: Internet.

Multiple imputation of missing blood alcohol concentration (BAC) values in FARS.

National Highway Traffic Safety Administration, Washington, D.C.