Action Recognition for the Robotics and Manufacturing Automation Using 3-D Binary Micro-block Difference

Abstract

Abstract Vision-based control systems play an important role in modern robotics systems. An important task in implementing such a system is the development of an effective algorithm for recognizing human actions and the working environment and the design of intuitive gesture commands. This paper proposes an action recognition algorithm for robotics and manufacturing automation. The key contributions are (1) fusion of multimodal information obtained by depth sensors and cameras of the visible range, (2) modified Gabor-based and 3-D binary-based descriptor using micro-block difference, (3) efficient skeleton-based descriptor, and (4) recognition algorithm using the combined descriptor. The proposed binary micro-block difference representation of 3-D patches from video with a complex background in several scales and orientations leads to an informative description of the scene action. The experimental results showed the effectiveness of the proposed algorithm on data sets.