Hand-Tracking for Human-Robot Interaction with Explicit Occlusion Handling
نویسنده
چکیده
The task of simultaneously tracking the threedimensional positions of both hands in a human-robot interaction scenario imposes significant challenges on the tracking application. In this diploma thesis, I focus on the problem of occlusion handling using particle filters. I show how disparity information can be used to improve the stability of the tracked trajectory in three-dimensional space. In addition, I present fast methods for tracking failure detection and automatic initialization. To conclude my diploma thesis, I demonstrate how the tracker can be used in gesture recognition tasks focusing on both the trajectory as well as the configuration.
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