Primena senzora tipa Kinect u snimanju trajektorija zglobova šake
Application of Kinect-type sensor in acquisition of hand joint trajectories
Аутори
Spasojević, SofijaKaran, Branko
Остала ауторства
Jakšić, ZoranNikolić, Zorica
Potkonjak, Veljko
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba
na šaci.
This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.
Кључне речи:
Microsoft Kinect / robot sensing systemsИзвор:
Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013, 2013, RO3.2.1-RO3.2.4Издавач:
- Beograd : Društvo za ETRAN
Финансирање / пројекти:
- Развој робота као средства за помоћ у превазилажењу тешкоћа у развоју деце (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-44008)
- Истраживање и развој амбијентално интелигентних сервисних робота антропоморфних карактеристика (RS-MESTD-Technological Development (TD or TR)-35003)
Институција/група
Институт техничких наука САНУ / Institute of Technical Sciences of SASATY - CONF AU - Spasojević, Sofija AU - Karan, Branko PY - 2013 UR - https://dais.sanu.ac.rs/123456789/720 AB - Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba na šaci. AB - This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand. PB - Beograd : Društvo za ETRAN C3 - Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013 T1 - Primena senzora tipa Kinect u snimanju trajektorija zglobova šake SP - RO3.2.1 EP - RO3.2.4 UR - https://hdl.handle.net/21.15107/rcub_dais_720 ER -
@conference{ author = "Spasojević, Sofija and Karan, Branko", year = "2013", abstract = "Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba na šaci., This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.", publisher = "Beograd : Društvo za ETRAN", journal = "Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013", title = "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake", pages = "RO3.2.1-RO3.2.4", url = "https://hdl.handle.net/21.15107/rcub_dais_720" }
Spasojević, S.,& Karan, B.. (2013). Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013 Beograd : Društvo za ETRAN., RO3.2.1-RO3.2.4. https://hdl.handle.net/21.15107/rcub_dais_720
Spasojević S, Karan B. Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013. 2013;:RO3.2.1-RO3.2.4. https://hdl.handle.net/21.15107/rcub_dais_720 .
Spasojević, Sofija, Karan, Branko, "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake" in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013 (2013):RO3.2.1-RO3.2.4, https://hdl.handle.net/21.15107/rcub_dais_720 .