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A stochastic algorithm for automatic hand pose and motion estimation.

In this paper, a novel, robust, and simple method for automatically estimating the hand pose is proposed and validated. The method uses a multi-camera optoelectronic system and a model-based stochastic algorithm. The approach is marker-based and relies on an Unscented Kalman Filter. A hand kinematic...

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Published in:Medical & Biological Engineering & Computing Vol. 55; no. 12; pp. 2197 - 2209
Main Authors: Cordella, Francesca, Corato, Francesco, Siciliano, Bruno, Zollo, Loredana, Corato, Francesco Di
Format: Journal Article
Published: Springer Nature Dec2017
Online Access:View this record in EBSCOhost
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      dt: Dec2017
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      pub: Springer Nature
      place: New York, New York
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        atl: A stochastic algorithm for automatic hand pose and motion estimation.
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          Cordella, Francesca
          Corato, Francesco
          Siciliano, Bruno
          Zollo, Loredana
          Corato, Francesco Di
        affil: Unit of Biomedical Robotics and Biomicrosystems , Università Campus Bio-Medico di Roma , via Alvaro del Portillo 21 00128 Rome Italy
      sug:
        subj:
          Image Processing, Computer Assisted Methods
          Hand Physiology
          Movement Physiology
          Models, Biological
          Algorithms
          Videorecording
          Robotics
          Statistics
      ab: In this paper, a novel, robust, and simple method for automatically estimating the hand pose is proposed and validated. The method uses a multi-camera optoelectronic system and a model-based stochastic algorithm. The approach is marker-based and relies on an Unscented Kalman Filter. A hand kinematic model is introduced for constraining relative marker's positions and improving the algorithm robustness with respect to outliers and possible occlusions. The algorithm outputs are 3D coordinate measures of markers and hand joint angle values. To validate the proposed algorithm, a comparison with ground truths for angular and 3D coordinate measures is carried out. The comparative analysis shows the advantages of using the model-based stochastic algorithm with respect to standard processing software of optoelectronic cameras in terms of implementation simplicity, time consumption, and user effort. The accuracy is remarkable, with a difference of maximum 0.035r a d and 4m m with respect to angular and 3D Cartesian coordinates ground truths, respectively.
      pubtype: Academic Journal
      doctype: Journal Article
      ougenre: Article
    language: English
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