Journal article 969 views
An Augmented Reality Based Human-Robot Interaction Interface Using Kalman Filter Sensor Fusion
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Ashraf Fahmy Abdo ,
Johann Sienz
Sensors, Volume: 19, Issue: 20, Start page: 4586
Swansea University Authors:
Chunxu Li , Ashraf Fahmy Abdo , Johann Sienz
Full text not available from this repository: check for access using links below.
DOI (Published version): 10.3390/s19204586
Abstract
In this paper, the application of Augmented Reality (AR) for the control and adjustment of robots has been developed, with the aim of making interaction and adjustment of robots easier and more accurate from a remote location. A LeapMotion sensor based controller has been investigated to track the m...
| Published in: | Sensors |
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| ISSN: | 1424-8220 |
| Published: |
MDPI AG
2019
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa52479 |
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| Abstract: |
In this paper, the application of Augmented Reality (AR) for the control and adjustment of robots has been developed, with the aim of making interaction and adjustment of robots easier and more accurate from a remote location. A LeapMotion sensor based controller has been investigated to track the movement of the operator hands. The data from the controller allows gestures and the position of the hand palm’s central point to be detected and tracked. A Kinect V2 camera is able to measure the corresponding motion velocities in x, y, z directions after our investigated post-processing algorithm is fulfilled. Unreal Engine 4 is used to create an AR environment for the user to monitor the control process immersively. Kalman filtering (KF) algorithm is employed to fuse the position signals from the LeapMotion sensor with the velocity signals from the Kinect camera sensor, respectively. The fused/optimal data are sent to teleoperate a Baxter robot in real-time by User Datagram Protocol (UDP). Several experiments have been conducted to test the validation of the proposed method. |
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| Keywords: |
augmented reality; human-robot interaction; LeapMotion sensor; Kinect sensor; Kalman filter sensor fusion |
| College: |
Faculty of Science and Engineering |
| Issue: |
20 |
| Start Page: |
4586 |