Abstract
Vision-based control systems play an important role in modern robotics systems. An important task in implementing such a system is developing an effective algorithm for recognizing human actions and the working environment and the design of intuitive gesture commands. This paper proposes an action recognition algorithm for robotics and manufacturing automation. The key contributions are (1) fusion of multimodal information obtained by depth sensors and cameras of the visible range, (2) modified Gabor-based and 3-D binary-based descriptor using micro-block difference, (3) efficient skeleton-based descriptor, and (4) recognition algorithm using the combined descriptor. The proposed binary micro-block difference representation of 3-D patches from video with a complex background in several scales and orientations leads to an informative description of the scene action. The experimental results showed the effectiveness of the proposed algorithm on datasets.
Highlights
The concept of human-robot collaboration (HRC) is one of the leading trends in technology of Industry 4.0 development
In addition to the main descriptor, the paper proposes to use the analysis of the human skeleton
In this paper a new algorithm for recognizing human actions is present for the implementation of a contactless interface of human-robot interaction, based on the construction of a descriptor of 3-D binary microblock difference, which provides invariance with respect to change of scale and brightness
Summary
The concept of human-robot collaboration (HRC) is one of the leading trends in technology of Industry 4.0 development. Human-robot cooperation is characterized by the following advantages: production processes become faster, more efficient, and more cost-effective, the level of automation increases; workload decreases to the operator; product quality is growing; flexibility and mobility of production processes are provided The implementation of such an interaction system requires, firstly, ensuring the safety of the operator who has direct contact with the moving parts of the robot, and secondly, designing an effective interaction interface that will fully use human skills. These devices have a complex set of tools to provide a wide range of robot functionality The use of such interfaces, in most cases, is not ergonomic for the operator, requires inconvenient hand movements for remote control tasks, which increases the user's workload, and requires additional training.
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