손가락 Pointing에 의한 물체의 3차원 위치정보 인식 및 인식된 물체 추적 로봇 시스템

In this work, a robot aimed at grapping and delivering an object by using a simple finger-pointing command from a hand- or arm-handicapped person is introduced. In this robot system, a Leap Motion sensor is utilized to obtain the finger-motion data of the user. In addition, a Kinect sensor is also used to measure the 3D (Three Dimensional)-position information of the desired object. Once the object is pointed at through the finger pointing of the handicapped user, the exact 3D information of the object is determined using an image processing technique and a coordinate transformation between the Leap Motion and Kinect sensors. It was found that the information obtained is transmitted to the robot controller, and that the robot eventually grabs the target and delivers it to the handicapped person successfully.