scholarly journals InterNet+: A Light Network for Hand Pose Estimation

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6747
Author(s):  
Yang Liu ◽  
Jie Jiang ◽  
Jiahao Sun ◽  
Xianghan Wang
Keyword(s):  
Performance Improvement ◽  
Pose Estimation ◽  
Network Architecture ◽  
Activation Function ◽  
Depth Information ◽  
Global Features ◽  
Hand Pose Estimation ◽  
Feature Extractor ◽  
Rgb Images ◽  
Hand Pose

Hand pose estimation from RGB images has always been a difficult task, owing to the incompleteness of the depth information. Moon et al. improved the accuracy of hand pose estimation by using a new network, InterNet, through their unique design. Still, the network still has potential for improvement. Based on the architecture of MobileNet v3 and MoGA, we redesigned a feature extractor that introduced the latest achievements in the field of computer vision, such as the ACON activation function and the new attention mechanism module, etc. Using these modules effectively with our network, architecture can better extract global features from an RGB image of the hand, leading to a greater performance improvement compared to InterNet and other similar networks.

scholarly journals CrossFuNet: RGB and Depth Cross-Fusion Network for Hand Pose Estimation

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6095
Author(s):  
Xiaojing Sun ◽  
Bin Wang ◽  
Longxiang Huang ◽  
Qian Zhang ◽  
Sulei Zhu ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Depth Map ◽  
Depth Information ◽  
Feature Maps ◽  
Hand Pose Estimation ◽  
Depth Sensors ◽  
Key Points ◽  
Rgb Images ◽  
Public Datasets ◽  
Hand Pose

Despite recent successes in hand pose estimation from RGB images or depth maps, inherent challenges remain. RGB-based methods suffer from heavy self-occlusions and depth ambiguity. Depth sensors rely heavily on distance and can only be used indoors, thus there are many limitations to the practical application of depth-based methods. The aforementioned challenges have inspired us to combine the two modalities to offset the shortcomings of the other. In this paper, we propose a novel RGB and depth information fusion network to improve the accuracy of 3D hand pose estimation, which is called CrossFuNet. Specifically, the RGB image and the paired depth map are input into two different subnetworks, respectively. The feature maps are fused in the fusion module in which we propose a completely new approach to combine the information from the two modalities. Then, the common method is used to regress the 3D key-points by heatmaps. We validate our model on two public datasets and the results reveal that our model outperforms the state-of-the-art methods.

scholarly journals CFAM: Estimating 3D Hand Poses from a Single RGB Image with Attention

2020 ◽  
Vol 10 (2) ◽  
pp. 618
Author(s):  
Xianghan Wang ◽  
Jie Jiang ◽  
Yanming Guo ◽  
Lai Kang ◽  
Yingmei Wei ◽  
...  
Keyword(s):  
Computer Vision ◽  
Pose Estimation ◽  
Spatial Information ◽  
Image Features ◽  
Estimation Methods ◽  
Feature Maps ◽  
Hand Pose Estimation ◽  
Rgb Images ◽  
Rgb Image ◽  
Hand Pose

Precise 3D hand pose estimation can be used to improve the performance of human–computer interaction (HCI). Specifically, computer-vision-based hand pose estimation can make this process more natural. Most traditional computer-vision-based hand pose estimation methods use depth images as the input, which requires complicated and expensive acquisition equipment. Estimation through a single RGB image is more convenient and less expensive. Previous methods based on RGB images utilize only 2D keypoint score maps to recover 3D hand poses but ignore the hand texture features and the underlying spatial information in the RGB image, which leads to a relatively low accuracy. To address this issue, we propose a channel fusion attention mechanism that combines 2D keypoint features and RGB image features at the channel level. In particular, the proposed method replans weights by using cascading RGB images and 2D keypoint features, which enables rational planning and the utilization of various features. Moreover, our method improves the fusion performance of different types of feature maps. Multiple contrast experiments on public datasets demonstrate that the accuracy of our proposed method is comparable to the state-of-the-art accuracy.

scholarly journals An Online Robot Teaching Method using Static Hand Gestures and Poses

2021 ◽  
Author(s):  
Digang Sun ◽  
Ping Zhang ◽  
Mingxuan Chen ◽  
Jiaxin Chen
Keyword(s):  
Gesture Recognition ◽  
Pose Estimation ◽  
Hand Gesture Recognition ◽  
Human Robot Interaction ◽  
Hand Gesture ◽  
Depth Information ◽  
Hand Gestures ◽  
Teaching Mode ◽  
Hand Pose Estimation ◽  
Hand Pose

With an increasing number of robots are employed in manufacturing, a human-robot interaction method that can teach robots in a natural, accurate, and rapid manner is needed. In this paper, we propose a novel human-robot interface based on the combination of static hand gestures and hand poses. In our proposed interface, the pointing direction of the index finger and the orientation of the whole hand are extracted to indicate the moving direction and orientation of the robot in a fast-teaching mode. A set of hand gestures are designed according to their usage in humans' daily life and recognized to control the position and orientation of the robot in a fine-teaching mode. We employ the feature extraction ability of the hand pose estimation network via transfer learning and utilize attention mechanisms to improve the performance of the hand gesture recognition network. The inputs of hand pose estimation and hand gesture recognition networks are monocular RGB images, making our method independent of depth information input and applicable to more scenarios. In the regular shape reconstruction experiments on the UR3 robot, the mean error of the reconstructed shape is less than 1 mm, which demonstrates the effectiveness and efficiency of our method.

scholarly journals An Online Robot Teaching Method using Static Hand Gestures and Poses

2021 ◽  
Author(s):  
Digang Sun ◽  
Ping Zhang ◽  
Mingxuan Chen ◽  
Jiaxin Chen
Keyword(s):  
Gesture Recognition ◽  
Pose Estimation ◽  
Hand Gesture Recognition ◽  
Human Robot Interaction ◽  
Hand Gesture ◽  
Depth Information ◽  
Hand Gestures ◽  
Teaching Mode ◽  
Hand Pose Estimation ◽  
Hand Pose

With an increasing number of robots are employed in manufacturing, a human-robot interaction method that can teach robots in a natural, accurate, and rapid manner is needed. In this paper, we propose a novel human-robot interface based on the combination of static hand gestures and hand poses. In our proposed interface, the pointing direction of the index finger and the orientation of the whole hand are extracted to indicate the moving direction and orientation of the robot in a fast-teaching mode. A set of hand gestures are designed according to their usage in humans' daily life and recognized to control the position and orientation of the robot in a fine-teaching mode. We employ the feature extraction ability of the hand pose estimation network via transfer learning and utilize attention mechanisms to improve the performance of the hand gesture recognition network. The inputs of hand pose estimation and hand gesture recognition networks are monocular RGB images, making our method independent of depth information input and applicable to more scenarios. In the regular shape reconstruction experiments on the UR3 robot, the mean error of the reconstructed shape is less than 1 mm, which demonstrates the effectiveness and efficiency of our method.

3D Hand Pose Estimation Using Synthetic Data and Weakly Labeled RGB Images

2020 ◽  
pp. 1-1 ◽  
Author(s):  
YUJUN CAI ◽  
Liuhao Ge ◽  
Jianfei Cai ◽  
Nadia Magnenat-Thalmann ◽  
Junsong Yuan
Keyword(s):  
Pose Estimation ◽  
Synthetic Data ◽  
Hand Pose Estimation ◽  
Rgb Images ◽  
Hand Pose
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