Microsoft Kinect-Based Artificial Perception System for Control of Functional Electrical Stimulation Assisted Grasping

Figure 5

Projection of the 3D object coordinates on the transversal, frontal, and sagittal plane. The handle is clearly visible on the sagittal plane projection, and it can be easily detected with a few simple morphological operations. Handle orientation can be detected from the transversal projection. The existence of the handle and the handle orientation are used for classification of large objects.