ROS-based UAV control using hand gesture recognition

摘要

As the first step towards the natural interaction between human and multi-UAV system, we present a novel human-UAV interaction method based on hand gesture recognition. We design different hand gestures corresponding to different UAV commands and propose a stable algorithm to distinguish these gestures. Then, considering the fact that the operation of multi-UAV system may need multiple cooperative operators, an algorithm based on position information and color information is designed to identify multiple operators. Thus multi-user recongnition by hand gestures is achieved. Lastly, we combine the results of hand gesture recognition of multiple operators with UAV control under Robot Operation System (ROS) framework and use AR Drone platform to test the whole system's performance.