Chip-based real-time gesture tracking for construction robot's guidance

Ying Hao Yu, Chun Hsien Yeh, Tsu Tian Lee, Pei-Yin Chen, Yeu Horng Shiau

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Mobile robots in automation construction have been designed for applications of craning, conveying, excavating, and floor polishing. These robots nowadays are equipped with various sensors to detect environmental information and finish tasks autonomously. When robot's navigating path needs to be rescheduled, the supervisor of robot can duly interrupt system and then redefines a new route for robot. In addition to robot remote control by radio signals, using digital camera to receive instructions from supervisor's gestures is also effective and can avoid the drawback of networked data routing. In this paper, we propose a gesture tracking system by simulating a traffic light baton to guide a differential drive robot in construction site. Here a real-time moving object detection first tracks supervisor's waves (gestures) with digital camera. Next the system determines guiding direction and steering angles based on fuzzy logic. All of our designs are implemented in single FPGA chip for operating under rigor environments. The experimental results demonstrate that proposed gesture tracking system is accurate and promising for chip-based gesture guidance on construction robots in the future.

Original languageEnglish
Title of host publication31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings
EditorsQuang Ha, Ali Akbarnezhad, Xuesong Shen
PublisherUniversity of Technology Sydney
Pages821-828
Number of pages8
ISBN (Electronic)9780646597119
Publication statusPublished - 2014 Jan 1
Event31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Sydney, Australia
Duration: 2014 Jul 92014 Jul 11

Publication series

Name31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings

Other

Other31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014
CountryAustralia
CitySydney
Period14-07-0914-07-11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Hardware and Architecture
  • Civil and Structural Engineering
  • Building and Construction

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  • Cite this

    Yu, Y. H., Yeh, C. H., Lee, T. T., Chen, P-Y., & Shiau, Y. H. (2014). Chip-based real-time gesture tracking for construction robot's guidance. In Q. Ha, A. Akbarnezhad, & X. Shen (Eds.), 31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings (pp. 821-828). (31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings). University of Technology Sydney.