A novel hands-free control system is presented for intelligent wheelchairs based on visual recognition of head gestures. It is intended to be used as a human-friendly interface for elderly and disabled people to operate the intelligent wheelchair using their head gestures rather than their hands. This is an extremely useful system for the users who have restricted limb movements caused by some diseases such as Parkinson's disease and quadriplegics. A robust HGI (Head Gesture based Interface) was designed for head gesture recognition of the RoboChair user. The recognised gestures are used to generate motion control commands to the low-level DSP (Digital Signal Processor) motion controller so that it can control the motion of the RoboChair according to the user's intention. Adaboost face detection algorithm and Camshift object tracking algorithm are combined in the system to achieve accurate face detection, tracking and gesture recognition in real time. To avoid unnecessary movements caused by the user looking around randomly, the HGI is focused on the central position of the wheelchair to identify useful head gestures. The future research will be focused on some extensive experiments and evaluation of HGI in both indoor and outdoor environments where cluttered backgrounds, changing lighting conditions, sunshine and shadows may bring complications to head gesture recognition.
Head gesture recognition for hands-free control of an intelligent wheelchair
Kopfgestenerkennung für die handfreie Lenkung eines intelligenten Rollstuhls
The Industrial Robot ; 34 , 1 ; 60-68
2007
9 Seiten, 9 Bilder, 1 Tabelle, 20 Quellen
Aufsatz (Zeitschrift)
Englisch
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