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Journal of Sensors
Volume 2016, Article ID 8252015, 9 pages
Research Article

Kinect-Based Vision System of Mine Rescue Robot for Low Illuminous Environment

School of Mechanical Engineering, Xi’an University of Science & Technology, Xi’an, Shaanxi 710054, China

Received 25 December 2014; Accepted 4 February 2015

Academic Editor: Yong Zhang

Copyright © 2016 Wanfeng Shang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents Kinect-based vision system of mine rescue robot working in illuminous underground environment. The somatosensory system of Kinect is used to realize the hand gesture recognition involving static hand gesture and action. A K-curvature based convex detection method is proposed to fit the hand contour with polygon. In addition, the hand action is completed by using the NiTE library with the framework of hand gesture recognition. In addition, the proposed method is compared with BP neural network and template matching. Furthermore, taking advantage of the information of the depth map, the interface of hand gesture recognition is established for human machine interaction of rescue robot. Experimental results verify the effectiveness of Kinect-based vision system as a feasible and alternative technology for HMI of mine rescue robot.