Resumo

NOPE, Sandra; LOAIZA, Humberto  e  CAICEDO, Eduardo. 3D-2D Gesture reconstruction using monocular video information applied to a robotic arm. Rev.fac.ing.univ. Antioquia [online]. 2010, n.53, pp.145-154. ISSN 0120-6230.

A model for gesture reconstruction performed by a human arm is presented. The model uses the information from a monocular vision system constituted by an uncalibrated basic webcam. A set of gestures were used to test the model, those gestures were performed by different people and distances from the camera. The mean square error of the robotic arm joints' trajectories was less than 0.317 pixels. This error was computed on the 2D projection of the 3D reconstruction for the selected gestures.

Palavras-chave : Artificial vision; robotic arm; direct cinematic; imitation; gesture reconstruction.

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