设计和评估使用手势识别的四旋转无人机的替代控制
Siavash Khaksar1, Luke Checker1, Bita Borazjan1
1School of Electrical Engineering, Computing and Mathematical Sciences, Curtin University, Bentley, WA 6102, Australia.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
这项研究开发了一种用于无人机控制的手势识别 (HGR) 系统. 该系统有效地使用MediaPipe Hands (MPH) 和自定义分类器,以实现直观,低成本的四旋转机操作.
科学领域:
- 机器人和人机交互的人机交互
- 计算机视觉和机器学习
背景情况:
- 手势识别 (HGR) 已经研究了40年,机器感知的现代进步使得像MediaPipe Hands (MPH) 这样的算法成为可能.
- 现有的HGR解决方案在介质,方法和应用上有所不同,需要对新的控制环境进行评估.
研究的目的:
- 评估现代HGR算法的适用性,特别是MPH,用于替代控制.
- 开发和评估一个基于HGR的系统来控制四旋翼无人机.
主要方法:
- 评估MediaPipe Hands (MPH) 用于使用单摄像头,骨架模型方法进行手势识别.
- 开发一种新的HGR算法,通过选择一个分类器来补充MPH的轻量化性质并解决其Z轴不稳定性.
- 实施用于控制四旋转无人机的HGR系统.
主要成果:
- MPH表现出Z轴的不稳定性,将地标准确度从86.7%降至41.5%.
- 选择的分类器弥补了MPH的不稳定性,在八个静态单手手势中实现了96.25%的分类准确性.
- 开发的HGR系统实现了直观,计算成本低廉,可重复的无人机控制.
结论:
- 像MPH这样的现代HGR算法可以适应替代控制应用.
- 开发的HGR系统提供了一个可行的解决方案,可以在没有专用设备的情况下实现可访问和高效的无人机操作.
更多相关视频
相关概念视频
01:24Absolute Motion Analysis- General Plane Motion
243
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
243
01:22Controller Configurations
126
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
126
01:22Multi-input and Multi-variable systems
132
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
132