Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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VCCA-2013
H thng gin phi thng minh iu khin bng c ch bn tay
A hand gesture controlled smart clothes rack
Nguyn Khc Hng
1,a
, Hong Vn Mnh
1,b
, inh Trn Hip
1,c

1
Trng i hc Cng ngh - i hc Quc gia H Ni.
a
hungnk_54@vnu.edu.vn
b
manhhv87@vnu.edu.vn
c
tranhiep.dinh@vnu.edu.vn

Tm Tt
T lu gin phi l mt vt dng quen thuc trong
cuc sng hng ngy ca mi gia nh Vit, hn na
n tn dng c ngun nng lng v tn t mt tri
nn khng gy nhim mi trng v hao tn nhin
liu. tng nghin cu ca nhm tc gi l thit k
m hnh gin phi thng minh cho cc h gia nh
cc chung c cao tng, gii quyt bi ton tn dng
khng gian, tn dng ngun nh sng t nhin ng
thi h tr ch t ng bo v qun o khi thi tit
xu. M hnh c th c iu khin thng qua cc
nt bm ng thi c kt ni v c th gim st t
xa qua my tnh.
Bn cnh , vi s pht trin ca cng ngh iu
khin khng chm da trn c ch tay, con ngi
ang hng ti vic iu khin my mc thng qua
vic ra hiu, thay v s dng chut, nt bm theo
cch truyn thng. Vi mong mun tm hiu, nm bt
mt cng ngh ha hn s c s dng rng ri
trong tng lai, nhm tc gi nghin cu v pht
trin thnh cng module iu khin bng ngn ng c
ch trn gin phi thng minh. Gii php a ra l
phn tch chuyn ng ca bn tay qua camera 2D,
khp mu qu o chuyn ng ca tm bn tay vi
mt s nh dng hnh hc c bn (ng thng)
qua xy dng th vin lnh iu khin h thng
gin phi thng minh bng c ch tay.
Kt qu thc nghim cho thy m hnh hot ng
chnh xc v n nh. Thut ton nhn dng chuyn
ng bn tay xc nh c cc chuyn ng n gin
ca bn tay nh chuyn ng thng p dng thut
ton trn m hnh gin phi thng minh em li kt
qu kh quan v hon ton c th pht trin trn cc
h thng thi gian thc. Kt qu ca nghin cu cho
php ng dng vo nhiu lnh vc trong cng nghip
cng nh sinh hot nh iu khin robot, tr gip
ngi khuyt tt
T kha: gin phi thng minh, nhn din c ch tay,
bm qu o tm bn tay.

Abstract
Clothes rack is a familiar equipment in Vietnamese
familys life. Using clothes rack could exploit the
unlimited power from the sun without consuming
much energy and polluting the environment. The
authors groups idea is to design a smart clothes
racking system for high building household, which
could solve not only the space but also the nature light
source utilization problem, The product could also
auto-protect and autodry the clothes in bad weather.
The model could be controlled through button and
monitored with a PC.
Besides, with the advance of untouched technology
based on hand gesture recognition, human are heading
to control machine using gestures, instead of using
mouse, button or keyboard like in the traditional way.
With the aim to understanding and seizing the
technology which has potentials to be widely used in
the future, the authors successfully developed a
gesture based control module on our smart clothes
rack. The algorithm for tracking hands motion
captured by a 2D camera was also researched in this
project. Tracked palms trajectory was then matched
with some simple geometric forms to build a hand
gesture based control library for the smart clothes
rack.
Experiment results prove the accuracy and stability of
the model. The hand gesture recognition algorithm
could detect simple hand motions like linear motion.
The application of the algorithm on the smart clothes
rack brought positive results and the ability to
implement on real-time systems. The results of the
research could be employed in many industry and life
fields such as robot control or handicapped
assistance...
Keywords: smart clothes rack, hand gesture
recognition, palm tracking.

K hiu
K hiu ngha
A, B, C, D, E, F Cc vng khuyt ca bn tay
ng vi cc im khuyt.
B
init
Nn gc
( , )
k
B x y xm nn hin ti.
1
( , )
k
B x y
+
xm nn cp nht.
( , )
k
F x y

xm cc im nh ca
khung hnh hin ti.
b

H s cp nht.
( , )
k
D x y

Kt qu l nh nh phn.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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T

Ngng xm xc nh chuyn
ng.
d
i
Khong cch t im khuyt i
n cnh bao tng ng.
1
a ,
1
b ,
1
c ,
2
a ,
2
b ,
2
c Cc bin i trung gian.
, , C D E
x ;
, , C D E
y
To 3 im khuyt su
nht.
( ) ,
o o
O x y , R
To tm ng trn bn
tay v bn knh tng ng
( ) , d M A
Khong cch t im M n
ng thng A
m, b Cc h s ng thng tt
nht ca qu o tm bn tay.
M
L
on thng c so snh
khp mu.
QD
L
on thng qu o.
QD
L
Gc qu o vi
x
O
M
L

Gc on thng khp mu.
, ,
k k
a b , ,
k k
c d H
, H

( ) ,
k k k
O a b
( ) , d
k k k
O c
Cc tham s dng khp
mu.

1. Gii Thiu
Gin phi thng minh ca nhm khng phi l mt
pht minh mi, nm 2010, Yang Yen-tang ngi i
Loan thit k mt gi c kh nng bo v c
qun o khi tri ma hay khi tri ti v t ng em
phi khi ma tnh [1]. Tuy nhin, vi iu kin thi
tit bt li cho phi phng (nh thi tit nm m
nc ta) th tng ny ca nhm tc gi c bc
ci tin so vi pht minh ca Yang, l gin phi s
khng ch bo v m cn c sy kh khi cn thit
hoc thi tit bt li. Hn na vic kt ni, gim st,
kim tra, iu khin trc tip hoc iu khin trn
my tnh s gip chng ta an tm hn, an ton hn
nht l khi tri ma thng xy ra trn trt, sm
st...
Gin phi ca nhm c thit k c th di chuyn
thanh phi vo ra mi che v c th bo v c qun
o khi tri ma bng cch y kn li. Cm bin pht
hin nc s pht hin khi tri ma h thng a
ra lnh iu khin thu thanh phi vo mi che v h
bt chn. Khi tri tnh, trn mt cm bin nc s kh
gin phi s c a ra phi tip. Cm bin nh
sng cng c s dng trong h thng thc hin
vic a qun o ra, thu qun o vo khi tri sng
hoc ti. Cn vi ch sy kh, tu lng qun o,
d dy, thi tit, ta c th chn thi gian sy mt cch
ph hp.
h tr ti a cho ngi s dng, nhm tc gi
pht trin thut ton nhn din c ch tay gip ngi
dng c th d dng iu khin gin phi bng cc
thao tc n gin trc camera c kt ni vi gin
phi. i vi thut ton nhn din bn tay, nhm tc
gi xy dng thut ton da trn c s tch bn tay
khi nn, qua tm tm v qu o tm ca bn tay.
Mt s nghin cu lin quan n vn ny c
cng b nh phn bit da trn mu sc bn tay
[2],[3], s dng pht hin cnh [4],[5]. Vi phng
php u nhn qua c v kh d dng v ch cn thit
lp cc khong gi tr trn knh mu RGB cho ph
hp vi mu da l c th tch c bn tay, tuy nhin
phng php ny li nhn bit lun c cc b phn
khc trn c th hoc cc i tng khc trong khung
hnh c mu tng t mu da. Hn na khi nhm
ngi s dng c s khc bit ln v mu da, yu cu
i vi h thng s l kh phc tp khi phi gii quyt
bi ton nhn bit mu da ca ngi s dng trc
khi tin hnh cc bc tch lc tip theo. Phng
php th hai s dng pht hin cnh bin ca i
tng: mi i tng u c mt ng bin
chng ta c th d dng phn bit chng vi nhau,
cnh tay cng vy, chng ta d dng pht hin bn tay
thng qua thut ton trch cnh bin. Tuy nhin kt
qu trch s bao gm cnh bin ca nhiu i tng
khc c trong khung hnh, gii quyt bi ton xc nh
cnh bin ca ng i tng cn x l cng l mt
thch thc i vi cc nhm nghin cu hin nay.
Bn cnh kt qu ca phng php trch cnh bin
ph thuc rt nhiu vo cht lng ca hnh nh u
vo, phng php ny khng ph hp vi cc d n
s dng camera cht lng thp.
Hin nay, phng php c s dng nhiu tch
c bn tay l: Phng php tr nn [6],[7]. Phng
php ny khc phc c nhng nhc im ca hai
phng php trn, phng php ny rt hiu qu khi
c t s thay i v nn (v d trong phng tnh) v
to c s n nh cn thit, hn na n cng d
dng thc hin trn b th vin m ngun m
Opencv. V vy, nhm tc gi quyt nh s dng l
phng php tr nn c lp, gim st c bn tay.
im mi trong nghin cu ny ca nhm tc gi
l: sau khi tch c cnh tay chuyn ng ra khi
nn tnh, thut ton s xc nh tm bn tay thng qua
vic tm im O trn lng bn tay cch u cc
im ni gia cc ngn tay v khp mu qu o
chuyn ng ca tm bn tay vi cc on thng,
cung c nh ngha trc qua pht trin thnh
th vin lnh iu khin h thng gin phi thng
minh.
Bo co c trnh by theo cu trc sau: mc 2 gii
thiu thit k gin phi thng minh. Thut ton nhn
din c ch tay s c trnh by trong mc 3 bao
gm cc bc: tch chuyn ng ca tay t hnh nh
thu bi camera 2D s dng phng php tr nn, qua
xc nh a gic bao i tng. Da trn vic tm
im cch u cc im lm ca bn tay, nhm tc
gi pht trin thut ton xc nh tm v qu o
chuyn ng tng i ca tm bn tay, qua xy
dng th vin lnh iu khin i vi gin phi. Kt
qu thc nghim s c nhm tc gi trnh by
mc 4.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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2. Thit K Gin Phi Thng Minh.


H. 1 M hnh gin phi thng minh.
Gin phi ca nhm tc gi c thit k bng khung
nhm c chiu di 35cm, chiu rng 25cm v chiu
cao 45cm vi 2 ng c iu khin thanh phi v
iu khin bt che, cm bin c chng ti s dng
l cm bin nc ma v cm bin nh sng, hnh nh
thc t m hnh c m t trong H.1.
Cm bin nc ma hot ng khi xut hin git
nc trn b mt cm bin s lm ng mch in dn
n s thay i in p trn chn ca vi iu khin
cn cm bin nh sng l mt quang tr c in tr
thay i theo ri sng phn bit ngy v m.
Gin phi c thit k vi ba ch lm vic c
lp l: t ng bo v hon ton, ch ngi
dng t thao tc v ch sy kh. ch t ng
(H.2) bo v hon ton, qun o s c bo v di
tri ma v khi tri ti, chng ta khng th can thip
vo gin phi khi cha chuyn sang ch khc. Ch
ngi dng t thao tc khi ngi s dng mun
treo hoc ly qun o, ch ny qun o s khng
c bo v, mun bo v th cn phi chuyn sang
ch t ng. ch sy kh l ch ngi
dng t thit lp cc thng s nh thi gian, mc
sy cho h thng.
S khi thut ton ca m hnh gin phi thng
minh c din t nh sau:


3. Thut ton Nhn Din C Ch Tay
nhn din c c ch tay u tin nhm tc gi
phi tch c bn tay ra khi nn, sau s tm tm
ca lng bn tay v s khp mu qu o chuyn
ng ca tm bn tay vi cc on thng c nh
ngha trc.



3.1 Xy dng m hnh nn
Nghin cu c thc hin vi bi cnh ngi s
dng ngi trc webcam v thc hin cc chuyn
ng tay. Vi iu kin nghin cu l trong khung
hnh ch c cnh tay ca ngi s dng di chuyn,
nhm nghin cu p dng phng php tm khung
hnh nn qua xc nh i tng chuyn ng bng
cch tr hnh nn khi khung hnh hin ti c
trnh by trong [8]. Hnh nn c xc nh theo cng
thc sau:
( , ) ( , ) 1, 2,...,
init k
k
B x y median f x y k n = =

(1)
Trong B
init
l nn gc, n l tng s khung hnh
c la chn
tng chnh xc khi xc nh i tng chuyn
ng, nn s c cp nht trong thi gian thc s
dng cng thc:
1
( , ) ( , ) (1 ) ( , )
k k k
B x y B x y F x y b b
+
= + -

(2)
Trong 0.004 b = l h s cp nht, ( , )
k
F x y l
xm ca cc im nh ti khung hnh hin ti,
( , )
k
B x y v
1
( , )
k
B x y
+
l xm ca nn hin ti v
nn cp nht.
Vi camera c gi gc c nh, trong phn ln
thi gian i tng chuyn ng trn khung hnh ch
l cnh tay, phng php ny cho php loi b nhng
thay i xut hin trong thi gian ngn trong khung
Xy Dng M Hnh Nn
Pht Hin Chuyn ng Bn Tay
Tm ng Bao Bn Tay
Tm Cc im Li V Khuyt Bn Tay
Tm Tm Bn Tay
Khp Mu on Thng
H. 3 Thut ton nhn din c ch tay.
T ng
Ma Ti
Thu Qun o
H Bt Che
Thu Qun o
Kt Thc
Khng
C
Khng
C
H. 2 Thut ton m hnh gin phi thng minh.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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VCCA-2013
hnh (v d ngi i qua, rm ca chuyn ng)
vn khng thuc v hnh nn.
3.2 Pht hin chuyn ng bn tay.

H. 4 Nn (trn) v hnh nh cnh tay c tch ra khi
nn (di).
Sau khi c nh hnh nn, i tng chuyn ng s
c pht hin khi so snh mc xm ca im nh
thuc khung hnh hin ti v khung hnh nn theo
cng thc sau:
1
1
1 ( , ) ( , )
( , )
0 ( , ) ( , )
k k
k
k k
F x y B x y T
D x y
F x y B x y T
-
-

- >

(3)
Trong D
k
(x,y) l kt qu tch chuyn ng khi
nn th hin trn nh nh phn, T l ngng xm xc
nh chuyn ng, gi tr ca T nh hng trc tip
n chnh xc ca vic xc nh chuyn ng l
bn tay.
3.3 ng bao ca bn tay.
Trong nghin cu ny nhm tc gi s dng b lc
Canny [9] thc hin vic tch cnh bin cho i
tng l cnh tay c lc ra khi nn. Khi ,
chng ti s thu c to cc im l bin ca hnh
nh nh phn en trng ca cnh tay v nn trn,
truy xut cc to ng bin ny l nn tng cho
php thc hin cc ng dng khc nh v li hnh
dng cnh tay, phn tch cc c ch ca ngn tay, tm
ng bao li hay phn tch cc chuyn ng thc
hin bi bn tay.

H. 5 Cnh bin bn tay s dng b lc Canny.
Sau khi tch c cnh tay khi nn, ng bao
quanh i tng c th tm c d dng s dng
thut ton qut ca Graham [10] p dng trn i
tng sau khi c tch cnh bin.
ng bao da trn cnh bin ca i tng c xc
nh theo thut ton qut ca Graham c trnh by
nh sau:
- Lu to cc im thuc cnh bin
vo mt mng n im.
- Tm im cc tr (to y nh nht),
nu c nhiu im th chn im c
to x nh hn gi l im p[0].
- Qut ngc chiu kim ng h t p[0] v
nh s n-1 im cn li theo gc cc.
- Vi ba im lin tip bt u t p[i],
p[i+1] p[i+2] vi i = 0n-2.
Nu ba im to thnh mt
r phi hoc thng hng th
tip tc vng lp.
Nu ba im to thnh mt r
tri th: p[i+1] = p[i+2] sau
i = i 1 n khi c r phi
hoc thng hng.
Kt thc vng lp khi p[n] = p[0].
- V a gic li t cc im li .

Trong nghin cu ny, nhm tc gi tm khong
cch d
i
t im khuyt i n on thng ca hai im
li cha n (mc ch tm tm ng trn ca lng
bn tay, chng ti s trnh by phn sau). Cng thc
chung tm khong cch t mt im ( , )
M M
M x y
n ng thng A: 0 ax by c + + = l:
( )
2 2
,
M M
ax by c
d M
a b
+ +
A =
+

(4)
Hnh di y nhm tc gi th hin cc im li, cc
vng khuyt A, B, C, D, E, F, cc im khuyt thuc
cc vng khuyt v cc khong cch t cc im
khuyt n cnh bao tng ng. Ba im khuyt c
vin mu vng th hin 3 khong cch ln nht m
chng ti tm c qua thc nghim.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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H. 6 ng bao cnh tay v cc c im ca bn tay
3.4 Tm tm bn tay.
Chng ti thy rng tp hp cc im khuyt kh
tng ng vi mt ng trn v cng trung tm
bn tay, nn chng ti s tm tm ng trn i qua 3
im khuyt. Vn y l thng c nhiu hn 3
im khuyt v khi bn tay di chuyn hng bn tay
so vi camera b thay i nn nhng im ny s thay
i mnh dn n s mt n nh ca ng trn
(thc t ca nhm cng gp phi iu ny) nn
nhm phi tm nhng im khuyt c n nh cao
v lun gn trung tm lng bn tay, gii php c
a ra t s quan st thc t ca nhm l tm 3 im
khuyt c su ln nht so vi cc im cn li,
thng ri vo cc im vng B, C, D, E (H. 6)
Nhm tc gi tm cc khong cch d
i
nh phn trn
nu ra v lc c 3 im khuyt c su ln
nht bng cch lp li ba ln, mi ln s li lp tm
khong cch ln d
i
nht sau truy xut to ca
im khuyt c d
i
ln nht ri a khong cch
bng 0. Nh vy sau 3 ln lp chng ta c to 3
im khuyt cn tm. Gi s 3 im khuyt ny cc
vng C, D, E (3 im C, D, E), th tm ng trn
ngoi tip 3 im ny chnh l giao im ca hai
ng trung trc ca CD v DE, bn knh ca n s l
khong cch t tm n mt trong 3 im bt k.

H. 7 ng trn tm O ngoi tip 3 im C, D, E.
Khi to tm
( ) ,
O O
O x y v bn knh R ca
ng trn c tnh bi to ba im khuyt
( ) ,
C C
C x y ,
( ) ,
D D
D x y ,
( ) ,
E E
E x y c tnh
theo cng thc sau:
( )
( )
( ) ( )
( ) ( )
( ) ( )
( )
( )
( )
( )
( ) ( )
1
2
1 2
1 1 1
2 2 2
2 1 1 2
1 2 2 1
1 2 2 1
1 2 2 1
2 2
;
2 2
2 2
c c
b b
D C
D E
D C D E
D C D C
D E D E
O
O
O C O C
a x x
a x x
b y y b y y
x x y y
c a b
x x y y
c a b
c b c b
x
b a b a
a a
y
a a
R x x y y

= -

= -

= - = -

+ +


= +






+ +


= +





-
=
-
-
=
-
= - + -

(5)
Kt qu xc nh tm bn tay c th hin trn hnh
8 vi chnh xc cao v n nh trong qu trnh
cnh tay di chuyn. Kt qu thu c theo phng
php ny c n nh cao hn so vi phng php
trnh by trong [11] khi H.S. Park chia i i tng
chuyn ng xc nh tm bn tay. Vic xc nh
chnh xc tm bn tay c ngha rt quan trng trong
vic pht trin thut ton sau ny i vi vic
nhn dng cc c ch phc tp hn lin quan n cc
ng tc ca ngn tay.

H. 8 Tm bn tay l tm ca mt vng trn i qua 3 im
khuyt.
3.5 Khp mu on thng.
xy dng th vin lnh cho h thng iu khin
gin phi thng minh, c ch tay s c nhn dng
di dng cc on thng n gin. C th d dng
nhn thy l khi di chuyn bn tay ra n gn st
ng bao ca khung hnh th khi camera s khng
thu c trn vn hnh dng bn tay, nh hng n
chnh xc ca vic xc nh tm bn tay. Trong
nghin cu ny, nhm tc gi s dng mt ng
bao o c kch thc nh hn kch thc khung hnh
thu c t webcam trong vic xc nh qu o
chuyn ng ca tm bn tay.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

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VCCA-2013
n gin ha qu trnh tnh ton, qu o chuyn
ng ca tm bn tay s c coi nh l mt on
thng xc nh bi ng thng tt nht i qua tp
hp cc im ta tm bn tay thu c t mi
khung hnh, trong im u v im cui ca tp
hp l giao im ca qu o v ng bao o. Cc
h s m, b ca ng thng y = m.x + b c xc nh
p dng phng php bnh phng ti thiu nh sau:
( )( )
( )
0 0
0 0
2
0
2
0
i i
i i
L
i
i
L
x y
x y
n
m
x
x
n

(6)
0 0 i i
L L
y x
b m
n n
=


(7)
Trong i=1n
L
l cc im tm bn tay nm trong
hoc nm trn ng bao o c ta (x
0i
, y
0i
) tng
ng.

H. 9 Cc im trn qu o chuyn ng tm bn tay v
on thng tt nht tm c.
Th vin lnh xy dng cho nghin cu ny s bao
gm 8 on thng c bn tng ng vi cc chuyn
ng ca tm bn tay theo phng ngang, chuyn
ng theo phng thng ng, chuyn ng theo hai
ng cho ca hnh vung vi hai hng khc nhau.

H. 10 Tm on thng c bn dng khp mu.
Vic cn lm tip theo l xc nh on thng no
trong 8 on thng trn s c khp mu vi on
thng to bi qu o tm bn tay. Nhm tc gi s
a ra cc tham s dng khp mu.
QD
L

M
L

k
a
k
b
k
c
k
d
M
L
QD
L

H. 11 Khp mu qu o L
QD
vi on thng mu L
M
.
Cc tham s khp mu [12] c nh ngha nh sau:
( )
( )
,
, d
k k k k k M
k k k k k M
O a b a b L
O c c d L
= +
= +

(8)
Qu o tm bn tay s c khp mu on thng
tho mn yu cu:
( )
( )
,
,
M QD
k k k
k k k
L L
O a b H
O c d H
H

<

<

<

(9)
Trong H , H

l cc tham s c chn t qu
trnh thc nghim.
Vi iu khin n gin nh ca m hnh gin phi
nhm tc gi ch cn xt chiu di qu o v gc qu
o l c th khp mu thnh cng vi 1 trong 8 on
thng trn.

4. Kt qu thc nghim.
4.1 Vi m hnh gin phi.
Thc nghim ch t ng khi s dng giy t lau
ln cm bin ma cho kt qu tt: thanh phi c
thu vo, sau bt che c h xung che kn gin
phi, khi lau kh cm bin ma bt che t ng c
ko ln v thanh phi di chuyn ra khi mi che. Khi
che nh sng vo cm bin quang, thanh phi t ng
thu vo, tuy nhin do qu trnh che b nhiu (do che
khng u hay bui ti c nh n chiu vo cm bin
quang) nn thanh phi li c a ra, nhm tc gi
khc phc bng cch t mt ngng cng
sng rng hn v kt qu khc phc c tn ti
trn.
Hi ngh ton quc ln th 2 v iu khin v T ng ho - VCCA-2013

373
VCCA-2013
4.2 Vi thut ton nhn din c ch tay.
Thut ton nhn din c ch tay c kim nghim
vi mt webcam 2D c phn gii 640x480. Khung
hnh webcam bao gm ngi s dng (u, thn trn,
cnh tay ngi di chuyn) v nn pha sau. Thut ton
c lp trnh trn MATLAB v C++ trong c s
dng mt s tp lnh x l nh c bn trong b th
vin m ngun m OpenCV.

H. 12 Kt qu nhn din bn tay.
Kt qu khp mu qu o c ch tay vi 1 trong 8
on thng c bn cho kt qu chnh xc, hnh bn
di nhm tc gi khp mu thnh cng qu o
tm bn tay vi on thng theo phng ngang, v
mt on cho ln trn c chiu t tri sang phi nh
hnh mi tn vi tham s
0
20 H

= v chiu di
on thng to bi qu o ln hn 200 n v pixel.
0
-5,36
0
16,8
1
3
3
1
,
1
3
Q
D
L
=
2 301, 32
QD
L
=
1
M
L
2 M
L

H. 13 Kt qu khp on thng qu o c ch tay vi
on thng cho trc.
p dng vo m hnh gin phi thng minh, nhm tc
gi khp mu chuyn ng ca tm bn tay vi hai
on thng theo phng ngang vi hai hng khc
nhau ng v m gin phi v cho kt qu
chnh xc, n nh vi m hnh thc ch ngi
dng t thao tc.
Kt Lun
Bo co trnh by nghin cu pht trin thut ton
nhn dng c ch tay dng n gin p dng ln
gin phi thng minh. Kt qu hot ng hiu qu v
n nh ca gin phi cho php hng n kh nng
nghin cu sn xut sn phm thng mi bn ra th
trng. Thut ton nhn dng c ch tay c chnh
xc cao, th nghim thnh cng thut ton trn gin
phi cho thy tim nng ng dng thut ton vo
nhiu h thng t ng trong cuc sng v nghin
cu. Trong tng lai nhm nghin cu s tp trung
pht trin thut ton khng nhng p dng iu khin
cc thit b gia dng m cn c kh nng xy dng h
thng nhn dng ngn ng c ch tr gip ngi
khuyt tt.
Ti Liu Tham Kho
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Post, 03.2010
[2] Minsun Park, Md. Mehedi Hasan, Jaemyun Kim
and Oksam Chae, Hand Detection and Tracking
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International Conference on Image Processing,
Computer Vision, and Pattern Recognition (IPCV,12),
Las Vegas, USA, July. 15-19, 2012
[3] S. I. Kang, A. Roh and H. Hong, Using depth and
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[4] J. Kim and O. Chae, Moving object tracking using
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[5] Jan Prokaj , Niels da Vitoria LoboScale Space
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c
Ivor, Background Subtraction
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[7] Kyungnam Kim, Thanarat H. Chalidabhongse,
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[8] Lijing Zhang , Yingli Liang, Motion human
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[9] Mohamed Ali and David Clausi, Using The Canny
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IEEE 2001 International , vol.5, no., pp.2298,2300
vol.5, 2001.
[10] Maher M. Atwah, Johnnie W. Baker, Selim Akl,
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[11] Han-Sung Park, Kang-Hyun Jo, Real-Time Hand
Gesture Recognition for Augmented Screen using
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th
Korea
Japan Joint Workshop on Frontiers of Computer
Vision (FCV) 2013.
[12] L. Teslic, I. krjanc and G. Klancar, EKF-
Based Localization of a Wheeled Mobile Robot in
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Nguyn Khc Hng sinh nm
1991, hin ang sinh vin nm
cui khoa C hc k thut v T
ng ho, trng i hc Cng
ngh (UET), i hc quc gia H
Ni. Hng nghin cu chnh l
C in t v T ng ho.


Hong Vn Mnh sinh nm
1987, nhn bng Thc s C hc
k thut ti Trng i hc Cng
ngh, HQGHN nm 2013. Tham
gia nghin cu v ging dy ti b
mn Cng ngh C in t, Khoa
C hc k thut v T ng ha,
Trng i hc Cng ngh -
HQGHN t nm 2010 ti nay. Hng nghin cu
chnh l C in t v T ng ha.

inh Trn Hip sinh nm 1985,
nhn bng Thc s C in t ti
i hc Leibniz Hannover, CHLB
c nm 2010. T nm 2011 n
nay, thc s inh Trn Hip tham
gia ging dy v nghin cu ti B
mn Cng ngh C in t, Khoa
C hc k thut v T ng ha,
trng i hc Cng ngh,
HQGHN. Hng nghin cu chnh l nh v, tm
ng cho robot t hnh v x l nh.