Research on Intention Flexible Mapping Algorithm for Elderly Escort Robot
Algorithm 1
Fingertip selection.
(1)
Get a frame of image at the beginning of the gesture
(2)
While (point is not empty)
{
(1) According to the step length k, points and are selected to form the vector and the vector .
(2) Find the curvature at point according to the obtained vector and save it.
(3) Point subscript moves down i + 1
}
(3)
The curvature of each point is compared with the threshold T, the points with K ≥ T are taken out as fingertip candidate points, and the distance to the centroid point is calculated.
(4)
Set the delay time TD. If the gesture has no action within TD time, it is judged as the end of the gesture, and a frame of the image at the end of the gesture is obtained.
(5)
Fingertip detection and center of gravity distance calculation were carried out again on the acquired images, and the points with constant distance were eliminated.
