Abstract
Remote-controlled (RC) unmanned aerial vehicles (UAVs) have been extensively applied in agricultural areas, such as remote sensing, precise spraying pesticides for crop protection, agricultural situation inspection and so on, but these telemanipulated UAVs systems are operated entirely by a ground-based pilot with a need of eyes focus on the remote site UAV flight. The key issue existed in agricultural UAV teleoperation area is a longtime training needed. In this paper, a novel natural UAV teleoperation control system in agricultural application was proposed. In UAV teleoperation scenario, human operator gestures measured by using Kinect sensor can be used as control commands for UAV flight. Moreover, some UAV teleoperation control commands related to human hand gestures were defined, which is similar to the radio gymnastic exercises in China. Therefore, gesture recognition-based UAV teleoperation control is easy to learn and master. In addition, a new real time human hand gesture recognition algorithm was proposed. The stability of UAV flight dynamic of roll, pitch and yaw as well as attitude control were verified with the experiments based on the proposed method. At last, the usability and effectiveness of the proposed method has been verified by the experimental results. Keywords: gesture recognition, human pose estimation, depth image, skeleton tracking, teleoperation, unmanned aerial vehicle (UAV) DOI: 10.25165/j.ijabe.20181104.4096 Citation: Yin X C, Lan Y B, Wen S, Zhang J T, Wu S F. Natural UAV tele-operation for agricultural application by using Kinect sensor. Int J Agric & Biol Eng, 2018; 11(4): 173-178.
Highlights
Unmanned aerial vehicle (UAV), known as drones, are becoming a lot of popularity among an ever-growing community of amateurs and other service providers
Drone was chosen as agricultural application platform in GPS denied environment, which is used to add extra lightweight device for information acquisition, such as camera; 4) the designed body gesture for UAV control is similar to radio gymnastic exercise, which makes UAV flight control easy and acquires comfortable sensation during their work
The whole system is consisted of the gesture recognition subsystem in the local site, and the UAV-based animal monitoring subsystem in the remote site, and the information communication channel, in which the control commands of the UAV flight were transmitted to the remote site from the local site and the feedback information with the fight situation and livestock information were transmitted back from the remote site
Summary
Unmanned aerial vehicle (UAV), known as drones, are becoming a lot of popularity among an ever-growing community of amateurs and other service providers. Continuous human action or gesture recognition is a crucial and challenging task in many research and application fields, such as Kinect-based method[11] allows a human operator to communicate his motions instructions to the dual robot manipulators for object manipulation task in unstructured environment. A novel natural UAV teleoperation based human hand gesture recognition method through untouched Microsoft Kinect sensor for agricultural inspection or management application has been proposed. Drone was chosen as agricultural application platform in GPS denied environment, which is used to add extra lightweight device for information acquisition, such as camera; 4) the designed body gesture for UAV control is similar to radio gymnastic exercise, which makes UAV flight control easy and acquires comfortable sensation during their work
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