Recognizing Method Research Of Astronaut Gestures Based On Depth Camera

Relying on the rapid deve lopment of space robot control technology,interactions between astronauts and space robot become more frequent and common.In the field of machine vision,gesture recognition method will play a very important role in realizing the new mode of human-computer interaction.The purpose of this paper is to establish a new type of control system to manipulate the omni-directional movement of space robots or aircraft by gestures and to assist in complet ing space tasks,which has a high research value and development prospect for the future development of our country’s space application technology.The content of this paper is mainly based on the realization of the human body static gestures and dynamic gesture recognition.In addition,the feasibility of the gesture recognition control system in the application of space station service robot is analyzed.Finally,a set of operator’s hardware system for controlling the omnidirectional movement of the wheeled robot by means of gestures is designed to complete the verification of the new contactless gesture control method.In this paper,the study of static gesture recognition is based on the method of combining skin color detection and depth threshold to segment and extract the hand region in the image,which is firstly proposed in this paper.Then,the hand skeleton map is obtained by image noise reduction and refinement processing.The key node recognition and extraction is carried out by the feature point extraction method based on hand skeleton map proposed.Finally,static gesture recognition with higher accuracy and fastness is realized by establishing a static gesture 3D model.The dynamic gesture recognition is based on the improved dynamic time regularization method to compare and match the collected motion trajectory sequence with the pre-established standard action template library.The experimental results show that the improved dynamic time regularization method achieves dynamic gesture recognition with higher accuracy and fastness.In addition,this paper applies the gesture control to the robot control system,and realizes a new type of robot control.Moreover,feasibility and the availability simulation analysis and the verification for the space station service robots is also given in the paper.