SSD model (deep learning)

Deep learning

The final approach I took was deep learning. I used a pre-trained SSD (Single Shot multibox Detector) model to recongnize hands. The model was trained on the Egohands Dataset, which contains 4800 hand-labeled JPEG files (720x1280px). Code can be found here

Raw images from the robot’s camera are sent to another local device where the SSD model can be applied to recognize hands within those images. A filtering method was also applied to only recognize hands that are close enough to the camera.

After processing raw images from the robot, a message (hands recognized or not) will be sent to the State Manager. The robot will take corresponding actions based on messages received.

References

Wei Liu, Dragomir Anguelov, Dumitru Erhan, Christian Szegedy,Scott E. Reed, Cheng-Yang Fu, and Alexander C. Berg. SSD: single shot multibox detector. CoRR, abs/1512.02325, 2015. Victor Dibia, Real-time Hand-Detection using Neural Networks (SSD) on Tensorflow, (2017), GitHub repository, https://github.com/victordibia/handtracking