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1 !!"#$%&'"()*+,-./+0$1+ $/0,-./+0$1+ 23'"')04%1+!"#$%&'( )*+,-,./"( 0,*1%&23 45,*623 78µ,1%,.$"9/"( & 00: ;<3%&= 08+"3%&23 &"% 7%&#BA3 #,* C"3<5%1#8µ/,* D<11"-/"( E,.%1#%&'( &"% F$8µ"#,,%&,3,µ%&'( #,* C"3<5%1#8µ/,* 0"&<6,3/"( 5&'-)µ6+/ 784%9µ/%/ 23'"')04%1+ & :30$'0+*+01+!"#$#%&$"'()µ"#*+!"#(µ)µ#("*+,-+.-#µµ# /&(#$(01"#*2% 3$4052%!"#$#%&'()*+&,+-#./()012-3'$&2().2#)*+&,+-#.+4)5$267+82)&") 02$ :%:)-;8)!"$#<8).2#)!$/%:)!"#$+8+&#<8 727=!,<=<!"#$%&'()*+,&-.& /01&+23)456-"&6" /:!!247!"#$%&"'()*+,-.-/012!"#$%&'(%&)*+!"##$%&'()* +,-&.#/&0 2011

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3 !! Περιεχόμενα! 5#&0#.(µ#+/ Πρόλογος( 8 Περίληψη( 10 Abstract( 11 Κεφάλαιο 1 Εισαγωγή( Αλληλεπίδραση Ανθρώπου-Ρομπότ( Στόχος της Πτυχιακής( Οργάνωση Πτυχιακής( 15 Κεφάλαιο 2 Επεξεργασία Τρισδιάστατων Εικόνων( Αισθητήρες 3D εικόνας( Στερεοσκοπικές Κάμερες (Stereo Cameras)( Κάμερες Εύρεσης Βάθους (Depth Cameras)( PrimeSense (Multi-Sensor)( Microsoft Kinect (Multi-Sensor)( Asus WAVI Xtion (Depth-Sensor)( Οι Χειρονομίες(gestures) στην Αλληλεπίδραση Ανθρώπου-Ρομπότ( Ορισμός Χειρονομιών( Πρότυπα-Μέθοδοι Αναγνώρισης Χειρονομιών( Μοντελοποίηση χειρονομιών( Ανάλυση Χειρονομιών και Υπολογισμός Παραμέτρων( Κατάταξη και Αναγνώριση Χειρονομιών( Αναγνώριση Ανθρώπινης σιλουέτας( 38 Κεφάλαιο 3 3

4 !! Περιεχόμενα! Εργαλεία Ανάπτυξης Λογισμικού( H βιβλιοθήκη libfreenect( OpenNI Framework (Natural User Interaction)( Module( Production Nodes( Production Chains( Capabilities( Events( Nite Toolbox( Sessions( Controls( Flow( Messages( Message Generators( Message Listeners( Message Listeners and Generators( Nite Events( OpenGL( Transformations and Projections( Rasterization( Texture Mapping( Qt περιβάλλον ανάπτυξης εφαρμογών (IDE)( 57 Κεφάλαιο 4 Ανάπτυξη του Λογισμικού KinecTrack ( Tο μοντέλο LUCID( Ανάλυση της αρχικής ιδέας (Envision)( Στόχος λογισμικού( 61 4

5 !! Περιεχόμενα! Bασικές Λειτουργίες( Βαθμονόμηση του αισθητήρα( Χειρισμός της ρομποτικής πλατφόρμας( Χειρισμός του ρομποτικού βραχίονα( Χειρισμός της κεφαλής του ρομποτικού βραχίονα( Χειρισμός της αρπάγης( Παρακολούθηση σκελετικής δομής( Προσδιορισμός τυπικών χρηστών( Προσδιορισμός τεχνικών και περιβαλλοντικών παραμέτρων( Έρευνα-Απαιτήσεις (Discovery)( Ανάλυση χρηστών (Personas)( Ανάλυση εργασιών - Λειτουργικές απαιτήσεις( Σενάρια χρήσης του συστήματος( Διαγράμματα ροής στοιχειωδών ενεργειών( Προδιαγραφές ευχρηστίας- Μη λειτουργικές απαιτήσεις( Επίλυση τεχνικών προβλημάτων/περιορισμών( Ανάπτυξη Πρωτοτύπου(Design Foundation)( Λεπτομερής Ανάλυση του Συστήματος (Design Detail)( Επιλογή είδους αλληλεπίδρασης-μοντέλο πλοήγησης( Επιλογή Περιβάλλοντος Ανάπτυξης( Τεχνικοί περιορισμοί( Δυναμική σχεδίαση με Qt( Βαθμονόμηση με την libfreenect( Ροή RGB video με QThreads( Ηχητικά μηνύματα με QThreads( Σχεδιασμός εικονικού πλέγματος( Σταθεροποίηση-Φιλτράρισμα τιμών( 86 5

6 !! Περιεχόμενα! Interface με εξωτερικά προγράμματα( Ανάλυση Διεπαφής( Υλοποίηση Συστήματος (Build)( 92 Κεφάλαιο Διαγράμματα Κλάσεων( Παραμετροποίηση Συστήματος( Ρυθμίσεις Παρακολούθησης Χεριών( Ρυθμίσεις Χειρονομιών( 100 Αξιολόγηση του KinecTrack ( Αξιολόγηση Χρηστών( Δημιουργία ερωτηματολογίου( Συμμετέχοντες( Αποτελέσματα αξιολόγησης διεπαφής( Αποτελέσματα αξιολόγησης συστήματος( Μελλοντικοί Στόχοι - Βελτιώσεις( Διεπαφή( Σύστημα Χειρισμού( Χειρονομίες( Αισθητήρας Βάθους( Συμπεράσματα( 111 Παράρτημα Λεξικογραφικές Παραδοχές( 113 Οδηγίες Εγκατάστασης του KinecTrack ( 113 Βιβλιογραφία( 117 6

7 !! Περιεχόμενα! 7

8 ! Πρόλογος 5&("')'A 12$',&.µ" µ2$ #.'$34$#/2)5 "4&65 4&. 6$3$)/*3(7"/$2 80 "4&65 /*0 4%*3&9&3($0, /*0 /"6'&%&-($0 )$2 /&. :2$:2)/,&.. ; "42'<*#* /8'.4&%&-2#/=' &:5-*#" #" $%µ$/=:* $'>4/.?* /*0 /"6'&%&-($0,#/"3$ $4< /* ")/"/$µ@'* 635#* /&.0 #/20 A2&µ*6$'("0. B2 A2&µ*6$'("0 "489"%5C*)$' $4< /*',4$3?5 /&.0, )$C=0 /20 )$/@#/*#" 2)$'@0 '$ ".3, 9>#µ$ "µ4&32)=' #.#)".=', <480 "('$2 /$ )2'*/> /*%@98'$ )$2 µ2$ 4%*C=3$ *%")/32)=' #.#)".=' µ" $./&µ$/&4&2*µ@'"0 %"2/&.3-("0 <480 /$ 4%.'/532$, &2 9&,3'&2 µ2)3&).µ>/8' )./.% 4&. A"%/(8#$' /*' 4&2</*/$ 7850 /&. µ@#&. $'C3=4&.. D$3>%%*%$, >362#" * $'>4/.?* /*0 3&µ4&/2)50, "'<0 )%>:&. 4&. A3(#)"/$2 #/$ 43=/$ #/>:2$ /*0 2#/&3($0 /&. )$2 & &4&(&0 #.'"6=0 )"3:(7"2 /& "':2$9@3&' '@8' $'C3=48', 4&. )$/$A>%%&.' <%"0 /&.0 /20 :.'>µ"20-2$ '$ /*' "'2#6,#&.' )$2 '$ /*' $'$:"(?&.' 80 /* '@$ />#* /*0 #,-63&'*0 "4&650. E$('"/$2 '$ "4$'$%$µA>'"/$2 /& (:2& #"'>32& µ" /&.0.4&%&-2#/@0 µ" >%%&' <µ80 438/$-8'2#/5 $'C(7"2 #/20 A2&µ*6$'("0 4&. 6$3$)/*3(7&'/$2 $4< $./&µ$/&4&2*µ@'"0 :2$:2)$#("0 ($./&)2'*/&A2&µ*6$'("0, A2&µ*6$'("0 4$3$-8-50 *%")/3&'2)=' )/%.) )$/$A>%%&'/$0 1 ")$/&µµ,32& A2&µ*6$'2)> 3&µ4</ #" %"2/&.3-($ #/$ /@%* 2008 [1]. ; 3&µ4&/2)5 #/$:2$)> "2#@36"/$2 #/$ #4(/2$ /8' )$/$'$%8/=' <480-2$ 4$3>:"2-µ$ /$ 3&µ4</ AIBO, irobot Scooba, )$2 RoboDynamics Looma µ" "4(#*µ* )$/$-3$ ")$/&µµ,32$ &2)2$)> 3&µ4</ #/$ /@%* /& [1]. ; µ"/>a$#* $./5 -('"/$2 µ@#8 /8' )@'/38' "3".'=' )$2 /8' 4$'"42#/*µ(8' 4&. "('$2 #*µ$'/2)<0 4<%&0 $'>4/.?50 /*0 (F+B, PANDORA Rescue Robot). G3*#2µ&4&2&,'/$2 "4(#*0 #" '&#&)&µ"($ (McKesson Robot-Rx), #" :5µ&.0 4<%"8' (DustCart [2], SoukosRobots WasteBin), #" )@'/3$ 93&'/(:$0 $'C3=48', #" $3)"/@0 4"324/=#"20 #6":2>7&'/$2-2$ '$ "?.4*3"/&,' ".$(#C*/"0 )&2'8'2)@0 &µ>:"0 <480 &2.4"35%2)&2(CareBot, Paro) )$2 /$ 4$2:2>(PaPeRo, Hello Kitty Robot, Pleo, IfBot, Primo Puel) [3]. H424%@&', #.'$'/='/$2 #/* :2$#/*µ2)5(Robonaut, Spirit), #" $µ.'/2)> #.#/5µ$/$, /"3>#/2& 9>#µ$ 4&. #.µ4"32%$µa>'"2 $)<µ$ )$2 &µ>:"0 :2>#8#*0 µ" 6$3$)/*32#/2)< 4$3>:"2-µ$ /*' 4.3*'2)5 )$/$#/3&95 4&. #.'@A* 43<#9$/$ /& I>3/2& /& #/*' E&.)&.#(µ$ /*0 J$48'($0, <4&. 63*#2µ&4&25C*)$' -2$ /*' "4&4/"($ /*0 4"32&650 /&. 4.3*'2)&, "3-&#/$#(&..4< #.'C5)"0.K*%50 3$:2"'@3-"2$0(PackBot510, Warrior710) [4]. ; 4$3&,#$ "3-$#($ $4&/"%"( /& "42#/@-$#µ$ /8' 43&#4$C"2=' µ&. -2$ /*' "42#/5µ* /*0 3&µ4&/2)50 )$2 /8' 3&µ4&/2)=' #.#/*µ>/8'. I" /&' #6":2$#µ< )$2 /*'.%&4&(*#* "'<0 438/</.4&. 8

9 ! Πρόλογος #.#/5µ$/&0 6"232#µ&, 3&µ4&/2)50 4%$/9<3µ$0 )$2 3&µ4&/2)&, A3$6(&'$, /& :2)< /*0 %2C$3>)2 #/*' $'>4/.?* /*0 3&µ4&/2)50, "4")/"('&'/$0 /* :.'$/</*/$ 635#*0 /*0 #" 3&µ4</ :2$#=#/"0 <480 $./< /*0 &µ>:$0 3&µ4&/2)50 /&. +D!, PANDORA #/*' &4&($.453?$ 2:3./2)< /& #5µ"3$. L& <3$µ$ -2$ /* :*µ2&.3-($ "'<0 )$2'&/<µ&. #.#/5µ$/&0, /& µ&23>#/*)$ µ" /&' )$C*-*/5 µ&. ).M&.)> 4&. /*' :.'$/</*/$ '$ /& $'$4/,?8 )$2 '$ /&.%&4&25#8 #/$ 4%$(#2$ /*0 4/.62$)50 µ&. "3-$#($0-2$ /& 11DIN /&. +D! µ" /(/%&, N.#/5µ$/$ O4&%&-2#/=' )$2 H42)&2'8'2=' µ" )$/",C.'#* F&5µ&'$ N.#/5µ$/$. +4< /* $./5 C$ 5C"%$ '$ /&' ".6$32#/5#8 2:2$(/"3$ -2$ /20 635#2µ"0 /&. )$2 /*' 4&%,/2µ* A&5C"2> /&. #/$ <4&2$ 43&A%5µ$/$ 4$3&.#2>#/*)$' #/*' 4&3"($ $./50 /*0 "3-$#($0.!$ 5C"%$ "4(#*0 '$ ".6$32#/5#8 $4< )$3:2>0 /&.0 -&'"(0 µ&. -2$ /*' #.µ4$3>#/$#* )$2 /*'.4&µ&'5 /&.0 #/20 )3(#2µ"0 4"32<:&.0 4&. :2$A$('"2 * 6=3$ µ$0, )$C=0 )$2 /$ $:@392$ µ&. )$2 /* #.-)>/&2)< µ&. 4&. µ&. #.µ4$3$#/>c*)$' <%& $./< /&' )$23< :('&'/>0 µ&. /& $4$3$(/*/& )('*/3& -2$ #.'@6"2$, $)$/>4$.#/* "3-$#($ µ" "42µ&'5 )$2.4&µ&'5, -2$ /*' ")4<'*#* $./&,.!"# $%&"' #' $()&*+,"-. /#0,"-., (%1("- &$- #$ 2%"-. *)#,3,*4 *%4() #$ *-. "5$%µ46"-. ~ Johann Wolfgang Goethe ~ 7 "8"9:"%'$ *;.,&1<;. "'#$- ; 63+ *;. <9=+. ~ Voltaire ~ 9

10 ! Περίληψη 5#&B"-C- ; 4$3&,#$ 4/.62$)5 "3-$#($ 43$-µ$/","/$2 /& C@µ$ /*0 $%%*%"4(:3$#*0 $'C3=4&. - 3&µ4</ )$2 43&683> #/&' #6":2$#µ<, /*' $'>4/.?* )$2 /*'.%&4&(*#* "'<0 438/</.4&. #.#/5µ$/&0 6"232#µ&, µ2$0 3&µ4&/2)50 4%$/9<3µ$0 4&. :2$C@/"2 3&µ4&/2)< A3$6(&'$ )$2 $34>-*. P2$ /*' 4"3>/8#* µ"%"/='/$2 &2 µ@c&:&2 )$2 &2 /"6'2)@0 4&. 63*#2µ&4&2&,'/$2 #/$ #,-63&'$ "42#/*µ&'2)> "3-$#/532$ -2$ /*' "4"?"3-$#($ /32#:2>#/$/8' "2)<'8' )$2 #.-)")32µ@'$ /*' $'$-'=32#* $'/2)"2µ@'8', /*' ")/(µ*#* /*0 C@#*0 /8' µ"%=' /&. #=µ$/&0 #/&' /32#:2>#/$/& 43$-µ$/2)< 6=3& )$2 /*' 4$3$)&%&,C*#5 /&.0 µ" #/<6& /*' )$/$-3$95 /*0 /3&62>0 /&.0. H4(#*0, #/20.4>36&.#"0 /"6'&%&-("0 $26µ50-2$ /*' $4&/,48#* #" K*92$)5 µ&395 /*0 /32#:2>#/$/*0 4%*3&9&3($0 /&. 6=3&., "42%@-"/$2 * )$/>%%*%* )$2 63*#2µ&4&2"(/$2 #/*' $'>4/.?* /&. %&-2#µ2)&,. I" /& A%@µµ$ #/&' 4$-)<#µ2& :2$-8'2#µ< Robocup [5], 4&. /* 63&'2> 4&. :2$',&.µ" :2"?>-"/$2 #/*' Q8'#/$'/2'&,4&%*(Robocup Istanbul 2011) [6], )$2 /& "':2$9@3&' #/3$µµ@'& #/*' )$/*-&3($ RoboRescue /*' &4&($ $9&3> /& #,#/*µ$ 4&. 4$3&.#2>7"/$2 #/*' 4$3&,#$ "3-$#($, A$#2)5 "('$2 * $4$(/*#* 6"232#µ&, /*0 3&µ4&/2)50 4%$/9<3µ$0 :2>#8#*0 [7]. D3&/"('&.µ" /3<4&.0 )$2'&/<µ&.0-2$ /*' )>C"/* A"%/(8#* /*0 :2$:3$#/2)</*/$0 µ"/$?, $'C3=4&. - 3&µ4</ 4&. -2$ /&' :2$-8'2#µ< Rescue "('$2 & 6"232#µ<0 /*0 4%$/9<3µ$0. G3*#2µ&4&2&,µ" /&' "4$'$#/$/2)< $2#C*/53$ /*0 Microsoft, /& Kinect, 80 /& µ@#&(controller) $%%*%"4(:3$#*0 µ" /& 3&µ4</. Q$/$#)".>7&.µ" /& %&-2#µ2)< KinecTrack 4&. 4$3$)&%&.C"( /20 )2'5#"20 /8' 6"32=' /&. 6"232#/5, $'$-'83(7"2 #.-)")32µ@'"0 6"23&'&µ("0 )$2 )$C2#/> ",)&%& /&' 6"232#µ< /*0 3&µ4&/2)50 4%$/9<3µ$0 :2>#8#*0 )$2 /&. 3&µ4&/2)&, A3$6(&'$ 4&. 4"32%$µA>'"2, $)<µ$ )$2 $4< >/&µ$ 4&. :"' -'83(7&.' $4$3$(/*/$ %"4/&µ@3"2"0 /&. #.#/5µ$/&0 $%%*%"4(:3$#*0 µ" /& 3&µ4</. 10

11 ! Περίληψη Abstract This thesis addresses the issue of human - robot interaction and presents the design, development and implementation of a prototype system with the ability to control a robotic platform with a robotic arm and a gripper at its end. In order for the project to successfully be completed, state-of-the-art methods and techniques are studied that used in modern laboratories for processing three-dimensional images. We review the Recognition of objects, the position estimation and monitoring of body parts in real three-dimensional space. We also examine the existing sensor technologies for capturing the digital three-dimensional information, we choose the best one according to certain criteria and use it in the system s software development. Looking forward to the global competition Robocup [5], held this year in Turkey (Robocup Istanbul 2011) [6], there is a special category named RoboRescue. The system presented in this thesis changes the way that usually works one of the fundamental units of the whole rescue robotic platform that is necessary to be built [7]. We propose innovative ways to radically improve the interaction between humans and robots. We use the revolutionary Microsoft Kinect sensor, as the robot controller capable of catching human body movements. We have produced the KinecTrack software which has the ability to monitor the operator s hands movements, to identify specific gestures and finally make it easy to operate the rescue robotic platform and its robotic arm, even by people who do not know, necessarily, details of the system itself. 11

12

13 ! Κεφάλαιο 1! ;#DE"/0' 1 :04/)*)9 1.1 <""-"#3BF&/4- <+G&13'8-H'µ3(% ; $%%*%"4(:3$#* $'C3=4&. - 3&µ4</ (Human- Robot Interaction HRI) ".3, "42#/*µ&'2)< 4":(& 4&. µ"%"/> /20 $%%*%"42:3>#"20 µ"/$?, $'C3=48' )$2 3&µ4</. D"32%$µA>'"2 )$2 >%%$ #.--"'5 4":($, <480 /*' $%%*%"4(:3$#* $'C3=4&.-.4&%&-2#/5, /* /"6'*/5 '&*µ&#,'*, /* 3&µ4&/2)5, /*' )$/$'<*#* 9.#2)50 -%=##$0 )$C=0 "4(#*0 )$2 /20 )&2'8'2)@0 "42#/5µ"0 [8]. ; $4$365 /*0 "42#/5µ*0 :('"/$2 µ" /*0 '&.A@%$0 I, Robot /&. Isaac Asimov [9] & &4&(&0 :2$/.4='"2-2$ 43=/* 9&3> /&.0 L3"20 F<µ&.0 /*0 R&µ4&/2)50: 1. L& 3&µ4</ :"' µ4&3"( '$ A%>K"2 /&' >'C384&, 5 "?$2/($0 /*0 $:3>'"2>0 /&., '$ /&. "42/3@K"2 '$ 4>C" )$)<. 2. S'$ 3&µ4</ 43@4"2 '$.4$)&,"2 /20 :2$/$-@0 4&. /&. :('"2 & >'C384&0 ")/<0 )2 #" #,-)3&.#* µ" /&' 43=/& '<µ&. 3. S'$ 3&µ4</ 43@4"2 '$ 43&#/$/@K"2 /*',4$3?5 /&., ">' * 43&#/$#($ $./5 :"' #.-)3&,"/$2 µ" /&' 43=/& )$2 :",/"3& '<µ&. I@#$ $4< /&.0 /3"20 4$3$4>'8 '<µ&.0 4&. & +#(µ&9 /& 50, $'$:"2)',"/$2 * *C2)5 4&. "9$3µ<7"/$2 #/$ 3&µ4</ (Roboethics, Robot ethics, Machine ethics). ; µ$72)5 4$3$-8-5 )$2 * ")/"'50 635#* /8' 3&µ4</ C$ &:*-5#"2 $'$4<9".)/$ #" '@$ *C2)>, '&µ2)> )$2 )&2'8'2)> :2%5µµ$/$. L$ 3&µ4</ /*' 2)$'</*/$ '$ "4"?"3-$#/&,' 43&#842)> #/&26"($ )$2 #.'5C"2"0 6$3$)/*32#/2)@0-2$ /&' )$C@'$ µ$0 4&. C$ &:*-5#&.' #" C@µ$/$ 2:28/2)</*/$0 )$2 $#9>%"2$0 )$C=0 )$2 #" ")"('$ 4&. $9&3&,' /*' 43&#842)5 "%".C"3($ [10]. B2 $%%*%"42:3>#"20 $'C3=48'-3&µ4</ C$ 43&)$%@#&.' K.6&%&-2)> )$2 )&2'8'2)> 43&A%5µ$/$ "2:2)> #/&.0 ".4$C"(0 4%*C.#µ&,0 <480 /$ 4$2:2>, /&.0 -*3$2</"3&.0 )$2 /&.0 $#C"'"(0.!$ 43&),K&.', "4(#*0, C@µ$/$ ".C,'*0 "-)%*µ$/2)=' "'"3-"2=', 3&µ4</ C$ µ4&3&,#" '$ 43&)$%@#"2 )>4&2&. "(:&.0 )$/$#/3&95. +'>%&-$ C@µ$/$ $4$#6<%*#$' )$2 C$ #.'"6(#&.' '$ 43&#"%),&.' /& "':2$9@3&' /&. 13

14 ! Κεφάλαιο 1! /*0 "3-$#($0 $./50 )$C=0 /& #,#/*µ$ 4&. 43&/"('"/$2 "?&.#2&:&/"( /& 3&µ4</ '$ :3>#"2-2$ %&-$32$#µ< /&. 6"232#/5. N/&' )$C&32#µ< /8' $4$2/5#"8' /&. #.#/5µ$/&0 %$µa>'"/$2 -2$ <#& /& :.'$/<' 6"232#µ< /&. 3&µ4</ $4</&µ"0 )2'5#"20, )$2 &3(7&'/$2 %"2/&.3-($0 #,µ98'$ 4>'/$ µ" /&.0 ")>#/&/" *C2)&,0, K.6&%&-2)&,0 )$2 )&2'8'2)&,0 )$'<'"0. D$3<%$./>, :('&'/$2 )>4&2"0 "%".C"3("0 #/&' 6"232#/5 4&. /&' )$C2#/&,'.4",C.'& #" 4"3(4/8#* µ* 635#*0 5 $'>3µ&#/*0 #.µ4"329&3>0. L$ µ@#$ $%%*%"4(:3$#*0 $'C3=4&.-3&µ4</ C$ µ4&3&,#$' '$ "('$2 (:2$ #" )>4&2& A$Cµ< µ" /$ $'/(#/&26$ µ@#$ 4&. 63*#2µ&4&2&,' &2 >'C384&2 µ"/$?, /&.0. S/#2, 6"23&'&µ("0, &µ2%($ )$2 "('$2 µ"32)&(.4&k592&2. N/& #,#/*µ$ 4&. 4$3&.#2>7"/$2 #" "4<µ"'& )"9>%$2& 63*#2µ&4&2&,'/$2 6"23&'&µ("0-2$ /&' /&. 3&µ4</ &2 &4&("0 "('$2 43&#92%"(0 #/&' >'C384& 4&. $'$%$µa>'"2 µ@#8 $./=' /&. 3&µ4</. B 6"232#µ<0 #.#/*µ>/8' "('$2 4&%, ".3"($ 4&. 4"32%$µA>'"2 )$2 /20 4"324/=#"20 6"232#µ&, "? $4&#/>#"80 4&. #/*' 43&)"2µ@'* 4"3(4/8#* &'&µ>7"/$2 /*%"6"232#µ<0. B /*%"6"232#µ<0 C@µ$ /& &4&(& $9&3> /&.0 "42#/5µ&'"0 /&. )%>:&. /8' "42)&2'8'2=' )$C=0 $'$%$µa>'&.' /*' )8:2)&4&(*#* K*92$)=' #*µ>/8' )$2 /*' $4&#/&%5 /&.0 µ@#8 "'$@328' )$'$%2=' "42)&2'8'($0, 8#/<#&, $9&3> )$2 >%%&.0 "42#/*µ&'2)&,0 )%>:&.0 4&. $#6&%&,'/$2 µ" /*' )$C$./5 4%*3&9&3($ 4&. C$ #/$%"( µ@#8 /8' "42)&2'8'2$)=' :2$,%8'. 1":&µ@'&. </2 * "42)&2'8'($ "('$2 "4$3)50, $'$7*/5C*)" %,#* #/& 43<A%*µ$ /*0 :2>:3$#*0 /&. 635#/* µ" /& (:2& /&. /& :*µ2&,3-*µ$. N/20 $4$36@0 /*0 2#/&3($0 /8'.4&%&-2#/=', * %"2/&.3-($ /&.0 )$2 * 63*#/2)</*/> /&.0 5/$' 89@%2µ* µ<'& 4>3$ 4&%, µ2)3< 4&#&#/< $/<µ8' 4&. "(6$' 4%53* -'=#* /&. #.#/5µ$/&0 4&. 6"23(7&'/$'. L$ 43&-3>µµ$/$ 4&. )$/$#)",$7$' 5/$' 4"32##</"3& 43&#92%5 #/*' (:2$ /* #.#)".5 4$3> #/&' >'C384&. ; )$/>#/$#* $./5 >362#" #/$:2$)> '$ $%%>7"2 µ" /*' "42'<*#* -%8##=' 43&-3$µµ$/2#µ&,.K*%</"3&. "424@:&., /*' )$/$#)".5 %"2/&.3-2)=' #.#/*µ>/8' µ" $4=/"3& 4>'/$ #/<6& /*' A"%/(8#* /*0 $%%*%"4(:3$#*0 /&..4&%&-2#/5 µ" /&' >'C384& )$2 /*' :*µ2&.3-($ "9$3µ&-=' )$/>%%*%"0 '$ ")/"%"#/&,' #/& ")>#/&/" %"2/&.3-2)< #,#/*µ$ µ" -'=µ&'$ /20 4"32##</"3"0 9&3@0 /*' ".63*#/($. ; 2#/&3($ :"(6'"2 </2 4"/.6*µ@'$ "µ4&32)> 43&-3>µµ$/$ %&-2#µ2)&, "('$2 )$/> )$'<'$ 2:2$(/"3$ ",63*#/$ #/&' $4%< 635#/* ;/O #.':.>7&'/$0 4>'/$ A@A$2$ /&' %<-& )$%5 $4<:&#* #" 6$µ*%5 /2µ5. ; 3&µ4&/2)5, $4< >4&K* :2$:3$#/2)</*/$0 µ" /&' >'C384& "('$2 #" 4&%, 43=2µ& #/>:2& $'>4/.?*0 #" "42#/*µ&'2)< "4(4":&, )$C=0 $)<µ* "42'&*C"( &2 µ@c&:&2 )$2 &2 $%-<32Cµ&2 4&. '$ "?$#9$%(7&.' /&.%>62#/&' -35-&3* )$2 &µ$%5 $%%> )$2 $3)"/> $?2<42#/* %"2/&.3-($ <480-2$ 4$3>:"2-µ$ /8' 14

15 ! Κεφάλαιο 1! )$2 9='*#*0, $'>%&-* /8' $'C3=42'8' $2#C*/5328' &3->'8' 5 $)<µ$ )$2 $'.4>36&.' $./5 /* #/2-µ5 &2 )$/>%%*%"0 #.#)".@0, & %<-&0 $4<:&#*0 /2µ50-2$ /*' $-&3> /@/&28' #.#/*µ>/8' "('$2 $4$-&3"./2)<0 $)<µ$ )$2-2$ /$ "4(4":$ µ"->%8' "426"235#"8'. L*' /"%"./$($ "µ9$'2#/"( $?2<%&-"0 #.#)".@0 $%%*%"4(:3$#*0 4&. 63*#2µ&4&2&,'/$2 #/* 3&µ4&/2)5, "?$23"/2)> µ2)3=' :2$#/>#"8'.4&%&-2#/2)> #.#/5µ$/$-smartphones <480 /& N900 /*0 Fokia [11] )$2 /& iphone /*0 Apple [12] 4&. :2$C@/&.' "424%@&' 4%*C=3$ $2#C*/*3(8' 635#2µ8' -2$ 3&µ4&/2)@0 "9$3µ&-@0, <480 * *%")/3&'2)5 4.?(:$, /& 3D "42/$6.'#2<µ"/3& )$2 /& 3D -.3&#)<42& µ" :.'$/</*/"0 #,':"#*0 µ@#8 Wifi )$2 Bluetooth µ" >%%$.4&%&-2#/2)> #.#/5µ$/$. N" $./> µ4&3"( '$ 43&#/"C"( & 4&%.$2#C*/53$0 Kinect /*0 Microsoft -2$ /"%"(80 :2$9&3"/2)@0 438/&4&32$)@0 635#" %(.'A %-A 5%8.0/$9A L& $'/2)"(µ"'& /*0 "3-$#($0 $./50 "('$2 * µ"%@/* /*0 $%%*%"4(:3$#* $'C3=4&. - 3&µ4</ )$2 * )$/$#)".5 "'<0 #.#/5µ$/&0 6"232#µ&, /*0 3&µ4&/2)50 4%$/9<3µ$0 :2$#=#/* /*0 PANDORA, /*0 &µ>:$0 3&µ4&/2)50 /&. +D!. H4(#*0, #/<6&0 /*0 "3-$#($0 "('$2 '$ µ"%"/5#"2 )$2 '$ 4$3&.#2>#"2 /20 /3@6&.#"0 "?"%(?"20 #/&' /&µ@$ /*0 /32#:2>#/$/*0 "4"?"3-$#($0 "2)<'$0, '$ 4$3&.#2>#"2 /$ #/>:2$ $'>4/.?*0 /&. %&-2#µ2)&, KinecTrack )$2 /"%2)> '$ /& 43&/"('"2 80 A@%/2#/* %,#* -2$ /& 6"232#µ< /*0 3&µ4&/2)50 4%$/9<3µ$0 :2>#8#*0 #" µ"%%&'/2)&,0 4$-)<#µ2&.0 :2$-8'2#µ&,0 Robocup /*0 )$/*-&3($0 Rescue. T@A$2$, µ@#$ $4< /$ #/>:2$ $'>4/.?*0 $./&, $'$:"2)',&'/$2 '@&2 &3(7&'/"0-2$ /&' $'$-'=#/* '$ )>'&.' µ" /&' 6"232#µ< 4&%.:2>#/$/*0 4%*3&9&3($0, /& 3<%& /8' $'C3=42'8' 6"23&'&µ2=' - 4&. 63*#2µ&4&2&,µ" #/*' "42)&2'8'($ &2 >'C384&2 µ"/$?, µ$0-2$ '$ ")93>#&.µ" /20 $4<K"20 µ$0 - $%%> $)<µ$ )$2 C@µ$/$ *C2)50 /8' 3&µ4</ 4$3&.#2>7&'/$0 $4< µ2$ :2$9&3"/2)5 #)&42> /* 3&µ4&/2)5 #/* #,-63&'* "4&65. ; 4/.62$)5 "3-$#($ &3-$'='"/$2 80 "?50: 15

16 ! Κεφάλαιο 1! N/& 2& )"9>%$2& -('"/$2 µ2$ "2#$-8-5 #/*' /32#:2>#/$/* "4"?"3-$#($ "2)<'$0. D$3&.#2>7&'/$2 $2#C*/53"0 /32#:2>#/$/*0 )$/$-3$950 /&. 43$-µ$/2)&, )<#µ&., µ"%"/>/$2 & 3<%&0 /8' 6"23&'&µ2=' #/*' $%%*%"4(:3$#* $'C3=4&..4&%&-2#/5 $%%> )$2 &2 $'$-'=32#*0 4&. 63*#2µ&4&2&,'/$2 #".4&%&-2#/2)> #.#/5µ$/$. H2#>-&'/$2 /*0 $'$-'=32#*0 #/&' /32#:2>#/$/& )<#µ&, )$2 * $'$-'=32#* $'C3=42'*0 )$2 /8' >)38' /&. #=µ$/&0. D$3&.#2>7&'/$2 ")/(µ*#*0 /*0 /8' $3C3=#"8' /&. #=µ$/&0 )$C=0 "4(#*0 )$2 /*' 4$3$)&%&,C*#5 /&.0 #" 683&63&'2)5 )%(µ$)$. N/& 3& )"9>%$2& 4$3&.#2>7&'/$2 /$ "3-$%"($ /$ &4&($ A&*C&,' #/*' $'>4/.?* /&. KinectTrack. D2& &2 &:*-&( #.#)".50 /&. Kinect µ" /*' A2A%2&C5)* libfreenect, /& OpenNI Framework -2$ /*' 9.#2)5 $%%*%"4(:3$#* /&. 635#/* µ" /*' "9$3µ&-5, * 43&#C5)* #" $./< /&. Nite Toolbox, "'<0 "3-$%"(&. -2$ /*' 4$3$)&%&,C*#* /8' $3C3=#"8' /&. $'C3=42'&. #)"%"/&, )$2 * OpenGL -2$ /*' $4"2)<'2#* /8' -3$92)=' #/*' &C<'*. H424%@&', -('"/$2 µ2$ $'$9&3> #/& Qt UI (User Interface) Framework )$2 #/o IDE (Integrated Development Environment) 4&. 63*#2µ&4&25C*)" -2$ /*' $'>4/.?* /*0 "9$3µ&-50. N/& 4& )"9>%$2& 4$3&.#2>7"/$2 $'$%./2)> & #6":2$#µ<0 )$2 * $'>4/.?* /&. %&-2#µ2)&, KinecTrack. N/& 5& )"9>%$2& $?2&%&-"(/$ &0 /*' ".63*#/($ /& KinecTrack, ")C@/&'/$2 /$ -"'2)> #.µ4"3>#µ$/$ )$2 $4&/"%@#µ$/$ $4< /*' $?2&%<-*#* /*0 "9$3µ&-50 )$2 43&/"('&'/$2 /3<4&2 A"%/(8#*0 $%%> )$2 µ"%%&'/2)5 "3-$#($ "4>'8 #/& $'/2)"(µ"'&. L@%&0, #/& 4$3>3/*µ$ $'$9@3&'/$2 &2 /.42)@0 4$3$:&6@0, * :2$:2)$#($ "-)$/>#/$#*0 /&. KinecTrack )$2 4$3$/(C"/$2 <%* * #6"/2)5 A2A%2&-3$9($ 4&. $'$9@3C*)" #/& A$#2)< )"(µ"'& /*0 "3-$#($0. 16

17 !! Κεφάλαιο 2 ;#DE"/0' 2 :3#I#&)/4B/ =&04F0E4%/%*+ :0$(+*+ 2.1 <04G-%9&#A 3D #0$(+/A ; $4&/,48#* µ2$0 "2)<'$0 µ" µ2$ K*92$)5 98/&-3$92)5 µ*6$'5 "('$2 µ2$ #.'5C"2$ $4&)/5#"2 5:* $4< /20 $36@0 /*0 :")$"/($0 4&. µ<%20 4@3$#". ; "2)<'$ 4&. $4&C*)",&.µ" )$2 µ4&3&,µ" '$ $'$)/5#&.µ" &4&2$:54&/" #/2-µ5 µ" )>4&2& K*92$)< µ@#& (4.6 ;/O, home cinema, mobile phone )/%) "('$2 :2#:2>#/$/* )$2 "4(4":*. +4&/"%"(/$2 $4< µ2)3&#)&42)> "2)&'&#/&26"($ (pixels) 4&. $4&:(:"2 µ2$ 638µ$/2)5 #.'2#/=#$ RGB, µ($ /2µ5 :*%$:5-2$ )>C" 63=µ$ $4< /$ Red, Green, Blue. H4&µ@'80, * 98/&-3$9($ $./5 :2$C@/"2 µ<'& /*' 638µ$/2)5 4%*3&9&3($ /&. 6=3&. 4&. $4&/,48#", 683(0 )>4&2$ -'=#* -2$ /*' 43$-µ$/2)5 C@#* #/& 6=3& /&. )>C" "2)&'&#/&26"(&. 4&. )$/$-3>9"2. B /*' 2)$'</*/$ A%@4"2 )$2 '$ $'/2%$µA>'"/$2 /&' 6=3& -,38 /&. 63*#2µ&4&2='/$0 /& $2#C*/532& /*0 <3$#50 /&.. N/*' 43$-µ$/2)</*/$, * 4%*3&9&3($ 4&. )$/$-3>9"2 & )>C" /* µ& µ$/2)50 #.'2#/=#$0 RGB 4&. )$/$-3>9"/$2 $4< "?"2:2)".µ@'$ ),//$3$ /&. $µ92a%*#/3&"2:&,0 (A% #65µ$ 2.1-1). >=+µ$ 2.1-1:?) 5$-#4µ"#) *;. $(4&%9<;. (8;%)5)%'$. $(4 &@:" µ@*-. 7 µ"%-&+ $(4&%9<; "'#$- ; ("%-)=+ µ" *;# (-) $#)-=*+ /&%- $(4=%3,;. 7 µ$a%; ("%-)=+ "'#$- $4%$*; &$- $(4 *$ BA) µ@*-$. >*-. :1,"-. PR &$- PL 2%',&)#*$- "C"-B-&"9µ1#$ &A**$%$ ()9 $#-=#"A)9# *-. =%3µ$*-&1.,9#-,*0,". RGB. 17

18 !! Κεφάλαιο 2 +4< /* 9,#* /&. )$2,#/"3$ $4< :")>:"0 62%2>:"0 63<'2$ "?@%2?50 /&., :2$C@/"2 :,& &9C$%µ&,0 /20 4%*3&9&3("0 /8' &4&(8' & "-)@9$%&0 63*#2µ&4&2"( )$/>%%*%$ =#/" '$ :*µ2&.3-5#"2 µ2$ /32#:2>#/$/* $'$4$3>#/$#* /&. )<#µ&. )$2 /8' $'/2)"2µ@'8' 4&. A3(#)&'/$2 -,38 /&., <480 /$ $'/2%$µA$'<µ$#/" #5µ"3$. Q$/$9@3'"2 '$.4&%&-(7"2 /20 #6"/2)@0 :2$#/>#"20 "'<0 $'/2)"2µ@'&. 4>'/$ #" $'$%&-($ µ" /20 :2$#/>#"20 /8'.4&%&(48' $'/2)"2µ@'8' #/& 6=3& /&.. L&' /3<4& µ" /&' &4&(& "4"?"3->7"/$2 & "-)@9$%&0 $./@0 /20 4%*3&9&3("0 43&#4>C*#$' '$ $'$4$3$#/5#&.' $362)> &2 #/"3"&#)&42)&( $2#C*/53"0. D%@&',.4>36&.' :2>9&3"0 µ@c&:&2-2$ /*' 43$-µ$/&4&(*#* /*0 /32#:2>#/$/*0 )$/$-3$950 ") /8' &4&(8' ")"('"0 4&. µ$0 "':2$9@3&.' 4"32-3>9&'/$2 4$3$)>/ %#&#'4$'30$6A ;Eµ#&#A (Stereo Cameras) B2 #/"3"&#)&42)@0 )>µ"3"0 "('$2 "µ4'".#µ@'"0 $4< /&' /3<4& µ" /&' &4&(& %"2/&.3-"( * $'C3=42'* <3$#*. 12$C@/&.' :,& /&.%>62#/&' $2#C*/53"0 RGB )$2 &2 &4/2)&( 9$)&( /&.0 4$3$/*3&,' /&' 6=3& $4< :,& :2$9&3"/2)@0 &4/2)@0-8'("0. H2:2)> -2$ /*' 4"3(4/8#* /8' :,& &4/2)=' 9$)=', "9$3µ<7&'/$0 /* µ@c&:& /&. /32-8'2#µ&, #/$ 7",-* "2)<'8' 4&. 4$3>-&'/$2 )$/> #/$C"3> 63&'2)> :2$#/5µ$/$ $4< /&' $2#C*/53$, "('$2 :.'$/< '$ "?$6C"( * 4%*3&9&3($ A>C&.0. >=+µ$ : Fujifilm FinePix Real 3D. 7 (%0*; "µ()%-&+ <;5-$&+,*"%"),&)(-&+ &@µ"%$ /-$ $("-&4#-,; *%-,B-@,*$*3# "-&4#3# 4(3. ($%)9,-@,*;&",*; CES N/& #65µ$ $'$4$3(#/$'/$2 /$ :,& 43&&4/2)> #.#/5µ$/$ 4&. $'$9@3&'/$2 #/&' $32#/"3< )$2 #/&' :"?( &4/2)< 9$)< /*0 #/"3"&#)&42)50 )>µ"3$0. 18

19 !! Κεφάλαιο 2 >=+µ$ : D(-()8-&+ E"3µ"*%'$ (Epipolar Geometry) [13] +'/(#/&26$ #/& #65µ$ $4"2)&'(7&'/$2 &2 43&&4/2)@0 ".C"("0 /&. )>C" 9$)&, )$2 /& #9>%µ$ #/* µ@/3*#5 /&.0. >=+µ$ : F%))(*-&1. "9:"'". &$-,5@8µ$ "&*'µ;,;. :1,;..?$,;µ"'$ y1g &$- y2g $#-=#"A)#*$- *"8-&@ &$- =%;,-µ)()-)a#*$-,*; µ1:)b) *)9 *%-/3#-,µ)A $#*' *3# y1 &$- y2. [14] 19

20 !! Κεφάλαιο 2 L$ 43$-µ$/2)> #*µ"($ y1 )$2 y2 #/$ $'/(#/&26$ 43&&4/2)> "4(4":$ :"' µ4&3&,' '$ µ"/3*c&,' "?$2/($0 "'<0 4%5C&.0 4$3$-<'/8': P"8µ"/32)5 4$3$µ<398#* /8' 9$)=' )$/> /* µ"/$/3&45 /*0 /32#:2>#/$/*0 4%*3&9&3($0 #" :2#:2>#/$/*. Q>C" pixel /*0 "2)<'$0 /&. )>C" 9$)&, :2$'@µ"/$2 #/& #,#/*µ$ /8' 9$)=' #,µ98'$ µ" µ($ #.'>3/*#* )$/$'&µ50. ; $'>)/*#* /&. $'/(#/&26&. #*µ"(&. /*0 "2)<'$0 $4< /20 µ"/35#"20 4&. 43&),4/"2 $4< /* #.'>3/*#* )$/$'&µ50 :('"2 #9>%µ$/$. L$ "2)&'&#/&26"($ #" µ($ K*92$)5 )>µ"3$ "('$2 :2$)32/> )$2 * RGB #.'2#/=#$ /&.0 43&),4/"2 $4< -3$µµ2)5 4$3"µA&%5 /8' RGB #.'2#/8#=' /8' -"2/&'2)=' "2)&'&#/&26"(8'. H4&µ@'80, 43@4"2 '$ $'/2#/3$9"( * :2$:2)$#($ /*0 :2$)32/50 #.'>3/*#*0 ",3"#*0 /*0 4.)'</*/$0 42C$'</*/$0 /*0 "2)<'$0-2$ '$ "?$6C"( * 43$-µ$/2)5 "2)<'$. H4"2:5 :"' "('$2 -'8#/5 * $362)5 "2)<'$ 432' /*' 4$3"µA&%5, "2#>-"/$2 #9>%µ$. L$ #*µ"($ /*0 "2)<'$0 4&. 63*#2µ&4&2&,'/$2-2$ /32-8'2#µ<.4&%&-(7&'/$2 µ" :2$9&3"/2)&,0 /,4&.0 "?$ $3$)/*32#/2)=' 80 $4&/@%"#µ$ /*' "2#$-8-5 C&3,A&. %<-8 /8' #9$%µ>/8' 4&. 43&),4/&.' $4< /20 /"6'2)@0 -"2/'($#*0 (neighborhood algorithms) <480-2$ 4$3>:"2-µ$ * nearest-neighboor. H4&µ@'80 $'/2%$µA$'<µ$#/" </2, $)<µ$ )2 $' /& C"83*/2)< 4%$(#2& -2$ /&'.4&%&-2#µ< /&. A>C&.0 µ@#8 /32-8'2#µ&, "('$2 -'8#/<, "('$2 :,#)&%& /*' $)32A5 C@#* )>C" #*µ"(&. #/& 6=3& %<-8 /8' 4&%%$4%=' /,48' C&3,A8' 4&. 4&%%@0 9&3@0 "('$2 $43&#:2<32#/* * #.µa&%5 /&.0. H µ@c&:&0 /&. /32-8'2#µ&, "µ9$'(7"/$2 µ" 4&%%@0 :2$9&3"/2)@0 "):&6@0 4&. "#/2>7&.' #/*' ")/(µ*#* /*0 C@#*0 /&. )>C" #*µ"(&. #/& #9>%µ$ µ@/3*#*0 )$2 43&#4$C='/$0 '$ /& "%$62#/&4&25#&.' ;Eµ#&#A :J&#4-A KEG'8A (Depth Cameras) N" $./5 /* )$/*-&3($ #)<42µ$ :"' #.µ4"32%$µa>'&.µ" /20 #/"3"&#)&42)@0 )>µ"3"0, :2</2 /$ :":&µ@'$ 4&. 4$3>-&.' 63"2>7&'/$2 4"3$2/@38 "4"?"3-$#($ µ@#8 %&-2#µ2)&, -2$ '$ "?$6C"( /"%2)> /& A>C&0 $4< /*' %$µa$'<µ"'* "2)<'$. 20

21 !! Κεφάλαιο 2 B2 )>µ"3"0 4&. $'5)&.' #" $./5 /* )$/*-&3($ 4$3@6&.' 3&5 "2)<'8' µ" )>C" pixel '$ $'/2#/&26"( #/*' $4<#/$#* /&. $2#C*/53$ $4< /& #*µ"(& 4&. )$/$-3>9*)" )$2 A$#(7&'/$2 #/20 "?50 /"6'&%&-("0: Time-Of-Flight (TOF) 4&. µ&'$:2)< #/$/2)< 5 )2'&,µ"'& Laser. ; /"6'2)5 $./5 ")µ"/$%%","/$2 /&.0 ")4"µ4<µ"'&.0 &4/2)&,0 4$%µ&,0 )$2.4&%&-(7"2 /*' )$C.#/@3*#* /&. 98/<0 )$/> /* :2>:&#* /&., /*' $'>)%$#5 /&. )$2 /"%2)> /*' "42#/3&95 /&. #/&' $2#C*/53$. B2 4$%µ&( 4&. ")4@µ4&'/$2 "('$2 #.'5C80 :2$µ&398µ@'$ #5µ$/$ RF 5 4$%µ&( 98/<0 )$2 %$µa>'&'/$2 $4< )$/>%%*%&.0 $2#C*/53"0 CMOS 5 98/&:2<:&.0 4&. "('$2 "'#8µ$/8µ@'&2 #/& #.'&%2)< #,#/*µ$. Structured Light Lechnique, 4&. "('$2 * /"6'2)5 /&. :&µ*µ@'&. 98/2#µ&,. ; /"6'&%&-($ $./5 A$#(7"/$2 #/*' ")4&µ45 98/<0 #.-)")32µ@'& 43</.4& (pattern). B 98/2#µ<0 µ4&3"( '$ "('$2 #/& &3$/< $)<µ$ )$2 #/&.4@3.C3&, "'= /& 43</.4& 43&A&%50 "('$2 4%@-µ$ 4&. -2$ /& &3$/< *#2µ&4&2"(/$2 :(638µ& /,4&. #)$)2@3$0. Q>µ"3"0 4&. A$#(7&'/$2 #/* /"6'2)5 TOF "µ9$'(#/*)$' 43<#9$/$ #/$ µ@#$ /*0 :")$"/($0 /& [15] </$' :*%$:5 * /"6'&%&-($ /8' *µ2$-8-=' 5/$' "4$3)50 =#/" '$.4&#/*3(?"2 /* :*µ2&.3-($ 4&%, #/"'=' 4$%µ=' (10nsec). L& )<#/&0 43&µ5C"2$0 "('$2 "?$23"/2)> µ"->%& /*0 />?*0 /8' $10000 <480 #/* 4"3(4/8#* /*0 Swiss Ranger 4000(SR4000)[16], 683(0 2:2$(/"3$ 6$3$)/*32#/2)> %"2/&.3-($0: ",3&0 µ@/3*#*0 5-8 µ@/3$, $'>%.#* "2)<'$0 176x144 pixels, ",3&0 4":(&. 43.6, x 34.6 o )$2 54fps 3.Cµ< µ"/>:&#*0 "2)<'8'. A'/(#/&26$, -2$ /*' CamCube 2.0: ",3&0 µ@/3*#*0 7 µ@/3$, $'>%.#* "2)<'$0 204x204 pixels, ",3&0 4":(&. 40, x 40 o )$2 25fps. +4< /&.0 $2#C*/53"0 :&µ*µ@'&. 98/2#µ&, 4$3&.#2>7&.' 2:2$(/"3& "':2$9@3&' ")"('&2 4&. 63*#2µ&4&2&,'.4@3.C3* $)/2'&A&%($. G$3$)/*32#/2)> 4$3$:"(-µ$/$ "('$2 &2 $2#C*/53"0 PrimeSense )$2 Kinect &2 &4&(&2 $'$9@3&'/$2 42& $'$%./2)> #/20 "'</*/"0 4&. $)&%&.C&,' PrimeSense (Multi-Sensor) B $2#C*/53$0 PrimeSense "('$2 43&U<' /*0 &µ='.µ*0 2:28/2)50 J#3$*%2'50 "/$23($0 4&. 2:3,C*)" /& 2005 '$ $'$/3@K"2 µ" /*' /"6'&%&-($ /&. /& )$/"#/*µ@'& #/*' /32#:2>#/$/* $4"2)<'2#* )$2 $'$)$/$#)".5 /&. 6=3&.. +' )$2 & (:2&0 & $2#C*/53$0 21

22 !! Κεφάλαιο 2 2:2$(/"3*0 :*µ&/2)</*/$0, & "4"36<µ"'&0 )$2 42& 2#6.3<0 4&. * (:2$ "/$23($ )$/$#)",$#" -2$ %&-$32$#µ< /*0 Microsoft 5/$' "4$'$#/$/2)<0 $4< 4&%%@0 $4<K"20. >=+µ$ : >=;µ$*-&4 B-@/%$µµ$ "(-&)-#3#'$. *3# "(-µ1%)9. *µ;µ@*3# *)9 $-,:;*+%$ PrimeSense [17]. B $2#C*/53$0 PrimeSense "('$2 #/*' 4&%.$2#C*/53$0 (A% #65µ$ ) )$C=0 :2$C@/"2 µ($ RGB camera, µ($ depth camera, :,& µ2)3<98'$, )$2 4 "2#<:&.0-2$ K*92$)@0 *6*/2)@0 4*-@0, "'= #.':@"/$2 µ" "?8/"32)> #.#/5µ$/$ µ@#8 /*0 ".3,/$/$ :2$:":&µ@'*0 C,3$0 USB2.0. B RGB $'>%.#* VGA 640x480 pixels µ" 6832)5 $'>%.#* x/y 3mm #" $4<#/$#* 2 µ@/3$ )$2 $'>%.#* A>C&.0 1cm &µ&(80 #" $4<#/$#* 2 µ@/38' $4< /&' $2#C*/53$. 3.Cµ< µ"/>:&#*0 "2)<'8' 60fps, ",3&0 %"2/&.3-($ µ@/3$, ",3&0 4":(&. 58 o x45 o, "('$2 2:2$(/"3$ µ2)3<0 µ" :2$#/>#"20 14cm x 3.5cm x 5cm, µ" "%>62#/"0 $4$2/5#"20 #" "'@3-"2$ 2.25Watt, "'= & RGB $2#C*/53$0 :2$C@/"2 $'>%.#* UXGA 1600x1200 pixels. 22

23 !! Κεφάλαιο 2 >=+µ$ : H $-,:;*+%$. PrimeSense &$-,=;µ$*-&+ $#$($%@,*$,; *;. RGB "-&4#$. &$- *;. "-&4#$. 2@:)9. [17]. ; PrimeSense "2#5-$-" /*' /"6'&%&-($ Light Coding µ" /*' &4&($ µ4&3"( '$ "?$6C"( /& A>C&0 /*0 #)*'50 #" µ2)35 $4<#/$#* $4< /&' $2#C*/53$ ( µ@/3$). B $2#C*/53$0 A>C&.0 $4&/"%"(/$2 $4< :,& µ$':$%8µ@'&.0 IR(infrared) 4&. 43&A>%"2 )8:2)&4&2*µ@'&.4@3.C3& 980 4&. "('$2 $<3$/& #/& $'C3=42'& µ>/2, $%%*%&"?$3/=µ"'& CMOS $2#C*/53$ "2)<'$0 4&. %$µa>'"2 /& )8:2)&4&2*µ@'&.4@3.C3& #5µ$. B CMOS $2#C*/53$0 "('$2 #.':":"µ@'&0 "#8/"32)< "4"?"3-$#/5 4&..4&A>%%"2 /20 "2)<'"0 #/* A$#2)5 "4"?"3-$#($ "9$3µ<7&'/$0 4$3>%%*%"0 /"6'2)@0. B "4"?"3-$#/50 $4&)8:2)&4&2"( /*'.4@3.3C* "2)<'$ )$2 43$-µ$/&4&2"( /$6,/$/* "?$-8-5 /&. A>C&.0-2$ )>C" pixel )$2 "424%@&' ")/"%"( $%-<32Cµ& /$,/2#*0 (/&' &4&(& )$%"( Registrator) /8' pixel /*0 "2)<'$0 A>C&.0 µ" /*' $'/(#/&26* "2)<'$ 4&. 43&@36"/$2 $4< /&' RGB $2#C*/53$ [17]. L"%2)> * 3&5 "2)<'8' A>C&.0 )$2 63=µ$/&0 "('$2 /@%"2$ ".C.-3$µµ2#µ@'"0. ; 43$-µ$/2)5 2#6,0 /&. $2#C*/53$ µ<'& #/20 :.'$/</*/"0 $4< >4&K*0.%2)&, (hardware) $%%> )$2 $4< 4%".3>0 %&-2#µ2)&, (software) (A% "'</*/$ ) Microsoft Kinect (Multi-Sensor) To Kinect 4&%.$2#C*/53$0 & &4&(&0 )$/$#)".>#/*)" $4< /*' PrimeSense -2$ %&-$32$#µ< /*0 Microsoft )$2 4$3&.#2>#/*)" -2$ 43=/* 9&3> #/*' *%")/3&'2)=' A2'/"&4$26'2:2=' H3 /&' J&,'2& /& < /*' )8:2)5 &'&µ$#($ Project Natal. L"%2)> 23

24 !! Κεφάλαιο 2 :2$/@C*)" µ$72)> #/$:2$)> #/*' 4$-)<#µ2$ $-&3> #/ F&"µA3(&. /&. $'$#/$/=#"2 4&%%@0 4$-)<#µ2"0 )&2'</*/"0 4&. "489"%5C*)$' /*0 635#*0 /&. #.µ4"32%$µa$'&µ@'8' /*0 3&µ4&/2)50 )$2 /8' A2'/"&4$26'2:2='. ; Microsoft :2@C"#" /& Kinect µ" 4%53* #.µa$/</*/$ µ" /*' )&'#<%$ 4$26'2:2=' /*0, /& XBOX 360, µ" )%"2#/< )$2 "'#8µ$/8µ@'& %&-2#µ2)< #/*' )&'#<%$. V/$' 43&9$'@0 <µ80 $4< /*' 43=/* #/2-µ5 </2 * #.µa$/</*/$ C$ "4")/"('&'/$' )$2 #/&.0 *%")/3&'2)&,0.4&%&-2#/@0 µ" &4&2&':54&/" C"µ2/< /3<4&, 432' $)<µ$ '$ 43&%>A"2 '$ /& :3&µ&%&-5#"2 * (:2$ * Microsoft 4&. :"' "(6" 43&-3$µµ$/(#"2, )$2 µ" #/<6& <62 µ<'& A@A$2$ /*' 635#* /&. 80 controller #" A2'/"&4$26'(:2$.4&%&-2#/='. >=+µ$ : 7,9,&"9+ Kinect µ" *)9. "(-µ1%)9. $-,:;*+%". *;.. ; "42/.6($ /&. #/&'.K*%< %<-& $4<:&#*0//2µ50-2$ /*' /"6'&%&-($ 4&. 43&#9@3"2. L* #/2-µ5 #.--3$950 /&. )"2µ@'&. $./&, )&#/&%&-"(/$2 #/*' "%%*'2)5 $-&3> #/$ 140 ".3=, :*%$:5 /2µ5 #6":<' 70 9&3@0 µ2)3</"3* #.-)32/2)> µ" /&' $2#C*/53$ Swiss Ranger B2 :2$9&3@0 µ"/$?, /&.0 "('$2 4&%%@0 #" 4&2</*/$ )$2 4&#</*/$ %"2/&.3-2=' µ" ")"('"0 /&. Kinect '$.4"32#6,&.' ",)&%$. S6"2 4$3<µ&2$ 6$3$)/*32#/2)> µ" /&' $2#C*/53$ PrimeSense, #" )>4&2$ $4< /$ &4&($ 4%"&'")/"( "'= #" )>4&2$ >%%$ µ"2&'")/"(. L$ 6$3$)/*32#/2)> /&. Kinect "('$2 /$ "?50: RGB Camera, µ" $'>%.#* VGA 640x480 pixels, A>C&0 63=µ$/&0 8-bit )$2 3.Cµ< µ"/>:&#*0 "2)<'8' 30fps 24

25 !! Κεφάλαιο 2 L32#:2>#/$/& "42/$6.'#2<µ"/3& (roll, pitch, yaw) L@##"3$ µ2)3<98'$ µ" )A>'/2#* 16-bit )$2 #.6'</*/$ :"2-µ$/&%*K($0 16kHz /& )$C@'$ Q2'*/53$ -2$ $%%$-5 )%(#*0 /&. Kinect (tilt motor), µ" :.'$/</*/$ 4"32#/3&950 )$/> ±29, $4< /*' &327<'/2$ C@#* 2#&33&4($0. Depth Camera, µ" $'>%.#* VGA 640x480 pixels, 11-bit $'>%.#* A>C&.0 )$2 ",3&0 µ@/3*#* µ@/3$ (:*%$:5 2.93mm :2$)32/< A5µ$ A>C&.0), ",3&0 4":(&. 57 o x43 o µ" 6832)5 $'>%.#* 1.3mm $'> pixel #/$ 0.8 µ@/3$ Led /32=' $4&63=#"8': 43>#2'&, )<))2'&, 4&3/&)$%(, µ" :.'$/</*/"0 blinking, steady, stopped. 12$#/>#"20 (28.2cm µ5)&0) x (6cm 4%>/&0) x (3.8cm,K&0). N.µ4"32%$µA>'&'/$0 /*' A>#* /&., /&,K&0 /&. :2$µ&39='"/$2 #/$ 6.9cm (A% N65µ$ & 5 ). T>3& (A% #65µ$ ) Q$/$'>%8#* 12Watt N.':"#2µ</*/$ USB2.0 ; $365 %"2/&.3-($0 /&. $2#C*/53$ A>C&.0 "('$2 <µ&2$ µ" ")"('* /&. PrimeSense 4&. 4"32-3>9*)" #/*' 43&*-&,µ"'* "'</*/$ (A%. "'</*/$ ). +?(7"2 '$ $'$9"3C&,µ" 4"3$2/@38 #/&' /3<4& µ" /&' &4&(& ")4@µ4"/$2 /& :&µ*µ@'& )8:2)&4&2*µ@'& pattern /*0.4@3.C3*0 $)/2'&A&%($0, /& &4&(& %$µa>'"2 $'$)%=µ"'& & CMOS $2#C*/53$0. B 43$-µ$/2)<0 /3<4&0 µ" /&' &4&(& %"2/&.3-"( /& Kinect "('$2 >-'8#/&0 )$C=0 :"' 4$3@6&'/$2 datasheet &,/" $4< /*' PrimeSense 4&. /&' )$/$#)".>7"2, $%%> &,/" )$2 $4< /*' Microsoft 4&. /&' :2$C@/"2 #/*' $-&3>. H4&µ@'80, µ4&3&,' µ<'& '$ -('&.' )>4&2"0 ")/2µ5#"20 µ" /$ 80 /=3$ :":&µ@'$. P'83(7&.µ" </2 &.4@3.C3&0 $2#C*/53$0 ")4@µ4"2 $)/2'&A&%($ µ" :&µ*µ@'& 98/2#µ< (structured light).!$ 4"3(µ"'" )$'"(0 /&. IR 43&A&%@$ '$ 4%@-µ$ $4< 640x480 #*µ"($ )$C$3> #/&26"2&C"/*µ@'$ #/& 6=3&, * 43$-µ$/2)</*/$ <µ80 9$('"/$2 #/& #65µ$ [18]. 4('$)$ 3x3 µ" /.6$(& pattern #" )>C" )"%( $4< #*µ"($ 4&. A3(#)&'/$2 #" /.6$("0 C@#"20 :2$9&3"/2)@0 µ"/$?, /&.0. I4o3&,µ","4(#*0, '$ 4$3$/*35#&.µ" </2 * 2:@$ /&. :&µ*µ@'&. 25

26 !! Κεφάλαιο 2 98/2#µ&, /,4&. #)$)2@3$0 4&. 63*#2µ&4&2"(/$2 #/20 /"6'2)@0 :&µ*µ@'&. 98/2#µ&, #/& &3$/< 980, #.µa$('"2 )$2 #/*' 4"3(4/8#* /&. Kinect. S/#2, )>C" )"%( $4< #*µ"($ /&. 4('$)$ 3x3 $4"2)&'(7"/$2 #" )$2 "424%@&' #*µ$/&:&/"(/$2 #*µ"(& #/& )@'/3& /&.. >=+µ$ : H IR (%)2)81$. *)9 Kinect. I()*9(0:;&" µ" µ)#*$%-,µ1#; <;5-$&+ 53*)/%$5-&+ µ;=$#+,*;# )()'$ $5$-%1:;&" *) 5'8*%) IR cutoff ()9 "'#$- *)():"*;µ1#) $(4 *)# &$*$,&"9$,*+ "µ(%4. $(4 *) 5$&4 [18] H424%@&', 4$3$/*3&,µ" </2 *.4@3.C3* $)/2'&A&%($ :"' "('$2 :2$µ&398µ@'*(modulated) )>/2 4&. #*µ$('"2 </2 :"' 63*#2µ&4&2"(/$2 * /"6'2)5 Time-Of-Flight -2$ /&'.4&%&-2#µ< /&. A>C&.0. E$('"/$2 480 %"2/&.3-"( µ" /* µ@c&:& /&. /32-8'2#µ&,(triangulation). ; "2)<'$ 4&. 43&A>%"2 & IR "('$2 -'8#/5, "'= * "2)<'$ 4&. %$µa>'"2 & CMOS :"' "('$2 -'8#/5 $%%> <µ80 -'83(7&.µ" </2 /* %$µa>'"2 )>4&2$ ")$/&#/> :(4%$ $4< /&' IR 43&A&%@$. B2 $)32A"(0 :2$#/>#"20 "('$2 -'8#/@0 #/& %&-2#µ2)< 4&. /3@6"2 & "4"?"3-$#/50 µ@#$ #/& Kinect )$2 63*#2µ&4&2='/$0 /&' /32-8'2#µ<.4&%&-(7"2 /& A>C&0 µ" $'>%&-& /3<4& <480 )$2 &2 #/"3"&#)&42)@0 )>µ"3"0. L& 4%"&'@)/*µ$ ":= "('$2 </2 :"' "?$3/>/$2 $4< /20 #.'C5)"0 98/2#µ&, 6>3* #/*'.4@3.C3* $)/2'&A&%($, "'= "424%@&' :"' "?$3/>/$2 )$2 $4< /*' $4<#/$#* "#/($#*0, )$C=0 * IR $)/2'&A&%($ 9$('"/$2 '$ "#/2>7"2 #" <%& /& ",3& µ@/3$ #/& &4&(& %"2/&.3-"( & $2#C*/53$0. 26

27 !! Κεφάλαιο 2 >=+µ$ : Ta "C$%*+µ$*$ *)9 kinect &$- *) 2@%)9. *)9.. >9#)8-&4 2@%). 700gr. >=+µ$ : J@*)<; *)9 Kinect µ" *-. B-$,*@,"-. 27

28 !! Κεφάλαιο 2 >=+µ$ :?) (',3 µ1%). *)9 Kinect µ" *-. B-$,*@,"-. L& Kinect "('$2 $2#C*/53$0 )$2 683(0 /& %&-2#µ2)< 4&. C$ "4"?"3-$#/"( /$ :":&µ@'$ /8' $2#C*/538' $4< /&.0 &4&(&.0 $4&/"%"(/$2 )$2 /$ &4&($ µ"/$9@3&'/$2 µ@#8 USB2.0, :"' "('$2 2:2$(/"3$ 635#2µ&0. N/& )"9>%$2& 3, C$ :&,µ" /20 43$-µ$/2)@0 /&. :.'$/</*/"0 ")µ"/$%%".<µ"'&2 /$ :2$C@#2µ$ "3-$%"($ %&-2#µ2)&, /$ &4&($ /&.4&#/*3(7&.' $4< /20 43=/"0 µ@3"0 4&. "µ9$'(#/*)" #/*' $-&3> Asus WAVI Xtion (Depth-Sensor) I2$ "'$%%$)/2)5 43</$#* C$ :2$/"C"( #/*' $-&3> $4< /*' Asus #" #.'"3-$#($ µ" /*' PrimeSense #/& /3(/& /3(µ*'& /&. 2011, <480 4$3&.#2>#/*)" #/* K*92$)50 A2&µ*6$'($0 CeBIT [19]. To Xtion $2#C*/53$ A>C&.0 $%%> )$2 :.'$/</*/"0 $#,3µ$/*0 µ"/>:&#*0 :":&µ@'8' 56&. )$2 "2)<'$0 $4< PC. H('$2 wifi $'$µ"/$:</*0 '$ µ"/$9@3"2 4%*3&9&3("0 $4< /& PC :",/"3& $'$µ"/$:</* #" $4<#/$#* µ@/38'. B :",/"3&0 $'$µ"/$:</*0 C$ A3(#)"/$2 #" )&'/2'5 $4<#/$#* $4< /&' $2#C*/53$ C$ #.':@"/$2 µ" $./<' µ" USB )$2 "4(#*0, C$ µ4&3"( '$ #.':"C"( µ" high definition (HD) /*%"<3$#* µ@#8 HDMI. H4&µ@'80, µ4&3"( '$ $'"?$3/*/&4&25#"2 /*',4$3?* "'<0.4&%&-2#/5 )&'/> #/*' /*%"<3$#*. W%"0 &2 4%*3&9&3("0 /&. $2#C*/53$ C$ µ"/$9@3&'/$2 $#,3µ$/$ #/& PC, $./< C$ /20 "4"?"3->7"/$2 )$2 C$ #/@%'"2 /$ :":&µ@'$ -2$ $4"2)<'2#* #" µ($ &C<'*. 28

29 !! Κεφάλαιο 2 >=+µ$ : H $-,:;*+%$. Asus Xtion L"6'2)> 6$3$)/*32#/2)>: Xtion H,3&0 M"2/&.3-($0: µ@/3$ +'>%.#* )$2 )A>'/2#* H2)<'$0 T>C&.0: $'$)&2'8C"( H,3&0 C@$#*0: &327<'/2$ 58,, )>C"/$ 45, )$2 :2$-='2$ 70, N,':"#* USB2.0 WAVI N.6'</*/$ %"2/&.3-($0: 5GHz I@-2#/* $4<#/$#* µ"/>:&#*0: 25 µ@/3$ H(#&:&0 1xHDMI S?&:&0 1xHDMI, 2xUSB 8 )$'>%2$ #/$ 192KHz µ" )A>'/2#* 8-bit. +' )$2 µ" #$9=0 4"32&32#µ@'"0 :.'$/</*/"0 #" #6@#* µ" /&' 4&%.$2#C*/53$ Kinect "('$2 µ($ 4&%, )$%5 "'$%%$)/2)5 %,#* 4&. $?2&4&2"( /$ (:2$ "3-$%"($ %&-2#µ2)&, /$ &4&($ "('$2 :2$C@#2µ$ )$2 29

30 !! Κεφάλαιο 2 #/&' PrimeSense )$2 #/& Kinect. Q&#/&%&-"(/$2 #/$ 179 ".3= (/* #/2-µ5 /*0 #.--3$950 /&. )"2µ@'&.) )$2 )&2'< 9>#µ$ "9$3µ&-=' $%%> )$2 >%%8' 4&. :"' µ4&3"( '$ 2)$'&4&25#"2 /& Kinect %<-8 /*0 $:.'$µ($0 $#,3µ$/*0 µ"/>:&#*0 :":&µ@'8'. D"32##</"3"0 /"6'2)@0 %"4/&µ@3"2"0 $'$µ@'&'/$2 µ" /*' µ$72)5 /&. ).)%&9&3($ #/*' 4$-)<#µ2$ $-&3> )$C=0 µ@632 :2$/"C"( µ<'& #/*' J$48'($. L#0&'+'µB#A(gestures) 4%-+ <""-"#3BF&/4- <+G&13'8-H'µ3(% N/& "42#/*µ&'2)< 4":(& /*0 :2>:3$#*0 $'C3=4&. -.4&%&-2#/5 µ$0 $4$#6&%"( "424%@&' )$2 /& µ@#& µ" /& &4&(& #.'/"%"(/$2 * #.-)")32µ@'* "42)&2'8'($. ; 42& 6$3$)/*32#/2)5 '$ )>'"2 µ" /& 4&'/()2 )$2 /& 4%*)/3&%<-2& 5 /*' &C<'* $950. +'/2C@/80, #/& #6"/2)< "42#/*µ&'2)< 4":(& :2>:3$#*0 $'C3=4&. - 3&µ4</ /& µ@#& 4"32##</"3& '$ )>'"2 µ" /& (:2& /& µ@#& "42)&2'8'($0 µ"/$?, /8' $'C3=48'. G$3$)/*32#/2)< 4$3>:"2-µ$ $4&/"%&,' &2 6"23&'&µ("0 )$2 * &µ2%($. N/* 4$3&,#$ "3-$#($ C$ $#6&%*C&,µ" µ" /20 6"23&'&µ("0 )$2 /&' /3<4& µ" /&' &4&(& µ4&3&,' '$ $'26'"./&,'. H4(#*0 C$ :&,µ" µ" 4&2&' /3<4& µ4&3"( '$ $'26'"./"( )$2 '$ 4$3$)&%&.C*C"( /& $'C3=42'& #=µ$. L#0&'+'µ01+ B <3&0 6"23&'&µ($ <480 $4&:(:"/$2 $4< $'C3=4&.0 4&. #6@#* µ" /& 4":(& /*0 $%%*%"4(:3$#*0 $'C3=4&.-.4&%&-2#/5, $'$9@3"/$2 6$3$)/*32#/2)> #/20 )2'5#"20 /8' 6"32=' -2$ '$ :"(?&.µ" /2 "''&&,µ", 4=0 $2#C$'<µ$#/" 5-2$ '$ ")93>#&.µ" µ2$ 2:@$ [20],[21]. ; µ"%@/* /8' $'C3=42'8' 6"23&'&µ2=' $32Cµ"( $3)"/@0 :")$"/("0 µ" $'$9&3@0 $4< /*' :")$"/($ /&. 60 </$' &2 Ekman & Friesen [22] :2$683(7&.' /20 6"23&'&µ("0 #" #.µa&.%"./2)@0 )$2 #" µ* #)<42µ"0. +3)"/> 63<'2$ $3-</"3$ & Pavlovic [23] )$2 &2 #.'"3->/"0 /&., :2$)3('&.' 4"3$2/@38 /20 #)<42µ"0 6"23&'&µ("0 #" "42)&2'8'2$)@0 4&. #.'.4>36&.' #.'5C80 µ" &µ2%($ )$2 #" ")"('"0 4&. "42:@6&'/$2 6"232#µ< )>4&2&. $'/2)"2µ@'&.()('*#*, 4"32#/3&95). L20 "42)&2'8'2$)@0 /20 :2$)3('&.' #" 6"23&'&µ("0 :3>#*0 µ@#8 µ(µ*#*0 µ" /$ :>)/.%$ )$2 #" #.µa&%2)@0 4&. "('$2 )$2 &2 42& #.'*C2#µ@'"0 )$2 µ4&3&,' '$ $'$4$3$#/$C&,' µ" #/$/2)@0 )2'5#"20 /8' 6"32='. B2 #.µa&%2)@0 6"23&'&µ("0 :2$683(7&'/$2 #" $'$9&32)@0 <480 * ).)%2)5 )('*#* /&. 6"32&, 4&. µ4&3"( '$ #*µ$('"2 µ($ 3<:$, )$2 #/20 ")93$#/2)@0 4&. #.'&:",&'/$2 µ" 30

31 !! Κεφάλαιο 2 &µ2%($. D3<#9$/$, & Nehaniv [24] '@& :2$6832#µ< /8' 6"23&'&µ2=' #" 4@'/" )$/*-&3("0: +)$'<'2#/"0 5 6"23&'&µ("0 6"232#µ&, $'/2)"2µ@'8' H)93$#/2)@0 6"23&'&µ("0, 4&. #6"/(7&'/$2 µ" /*' "42)&2'8'($ N.µA&%2)@0 6"23&'&µ("0, 4&. "?$3/='/$2 $4< /* ")>#/&/" -%=##$ 12$:3$#/2)@0 6"23&'&µ("0, -2$ /*' $362)&4&(*#*, /* #.'/53*#*, /& #.'/&'2#µ<, /*' &3->'8#* )$2 /&' /"3µ$/2#µ< :2$9<38' /,48' $%%*%"4(:3$#*0 +'$9&32)@0 5 :"2)/2)@0 6"23&'&µ("0 O4>36&.' 6"23&'&µ("0 &2 &4&("0 µ4&3"( '$ $'5)&.' #" :,& )$/*-&3("0 /$./<63&'$ $'>%&-$ µ" /& 4"32"6<µ"'& )$2 /20 6"23&'&µ("0 4&. 43&*-&,'/$2. +'/2#/3<980, µ4&3&,µ" '$ )$/$/>?&.µ" 6"23&'&µ("0 #" )>4&2"0 )$/*-&3("0 $'>%&-$ µ" /& "42)&2'8'2$)< 4%$(#2& #/& &4&(& #.'@A*#$' )$2 /& 2#/&32)< 4&. 43&*-5C*)" &(%83/-,6G'F'0 <+/)+1&04-A L#0&'+'µ01+ Q>C" 6"23&'&µ($ µ4&3"( '$ 43&#:2&32#/"( $4< /20 C@#"20 )$2 /&' 43&#$'$/&%2#µ< /8' $3C3=#"8' /8' 6"32=' #/&' 6=3& )$C=0 )$2 :2>'.#µ$ 4&. )$C&3(7"2 /& 63&'2)< 4%$(#2& #/& &4&(& #.'@A* * 6"23&'&µ($. +' )$2 #/&' >'C384& -('&'/$2 $µ@#80 )$/$'&*/@0, -2$ '$ µ4&3@#&.µ" '$ /20 $'26'",#&.µ" :"' $3)&,' µ<'& /$ 4$3$4>'8 #/&26"($. L$ #/>:2$ 4&. 43@4"2 '$ $)&%&.C*C&,' -2$ '$ -('"2 * $'$-'=32#* "('$2 /$ "?50 [25]: H42%&-5 "'<0 µ$c*µ$/2)&, µ&'/@%&. 4&. C$ %$µa>'"2.4<k* /$ 6832)> )$2 63&'2)> 6$3$)/*32#/2)> /&. 6"32&, )$2 /8' 6"23&'&µ2='. +'>%.#* )$2.4&%&-2#µ<0 /8' 4$3$µ@/38' /&. µ&'/@%&. $4< /$ 6$3$)/*32#/2)> "?$6C"( 5 )$2 4"32##</"3$ #,'&%$ :"2-µ>/8'(@'$ #,'&%& :"2-µ>/8' "('$2 &2 C@#"20 #/20 &4&("0 A3@C*)" /& 6@32 )$/> /*' ")/@%"#* /*0 6"23&'&µ($0). 31

32 !! Κεφάλαιο 2 B2 6"23&'&µ("0 4&. "?>-&'/$2 )$/$/>##&'/$2 )$2 "3µ*'",&'/$2 #,µ98'$ µ" /& µ&'/@%& µ" /& &4&(& /$./(#/*)$' )$2 µ" )>4&2&.0 )$'<'"0 4&. 43&#:2&3(7&.' /*' "#8/"32)5 #,'/$?* /8' "'/&%=' /8' 6"23&'&µ2='. Επιλογή Μαθηματικού Μοντέλου Ανάλυση & Υπολογισμός Παραμέτρων Κατάταξη & Αναγνώριση Χειρονομιών >=+µ$ : >*)-="-0B; 2+µ$*$ /-$ *;# $#$/#0%-,; ="-%)#)µ-0# 1.#/.6=0, * 4&%.4%&)</*/$ /8' 6"23&'&µ2=' "('$2 /@/&2$ 4&. µ@632 #/2-µ50 #" #.#/5µ$/$ :2>:3$#*0 µ&'/"%&4&2*c"( µ<'& #.µa&%2)@0 6"23&'&µ("0(#,µ98'$ µ" /& µ&'/@%& /&. Pavlovic) )$2 µ>%2#/$ ")/"%&,'/$2 µ<'& $4< /$ :,& 6@32$. +' )$2 #/*' $'C3=42'* "42)&2'8'($ * 635#* )$2 /8' :,& 6"32=' "('$2 :":&µ@'*, /& "':"6<µ"'& 635#*0 /&.0 )$2 #/* :2>:3$#* $'C3=4&.-3&µ4</ C$ &:*-5#"2 4&%, ",)&%$ #" )$/$#/>#"20 #/20 &4&("0.4>36"2 µ"->%* $A"A$2</*/$ -2$ /*' 43$-µ$/&4&(*#* #)<42µ8' 5 µ* #)<42µ8' 6"23&'&µ2='. +A"A$2</*/$ µ4&3"( '$.4>36"2 $)<µ$ )$2 </$' &2 6"23&'&µ("0 43$-µ$/&4&2&,'/$2 µ" /$ 6@32$ #" &32$)@0 C@#"20 µ"/$?, /&.0 <480-2$ 4$3>:"2-µ$ </$' C@%&.µ" '$ :"(?&.µ" </2 )>/2 "('$2 #/"'<. H('$2 4&%, #*µ$'/2)< '$ -('"2 )$/>%%*%* "42%&-5 /&. µ&'/@%&. #/& 43=/& A5µ$ :2</2 $./< C$ )$C&3(#"2 /*' 9.#2)</*/$ )$2 /*' $4<:&#* /&. #.#/5µ$/&0, $9&, µ" A>#* $./< C$ -('"2 /$,/2#* /8' 6"23&'&µ2='. N" )>C" 4"3(4/8#* 4>'/80 /& #,#/*µ$ 43@4"2 '$ "('$2 2)$'< '$ /$?2'&µ"( )>C" 6"23&'&µ($ #" µ2$ )$/*-&3($ -2$ '$ $4&9".6C&,' $A"A$2</*/"0. S'$ "424%@&' 43<A%*µ$ "('$2 * /$6,/*/$ "4"?"3-$#($0, 4&. 4&%%@0 9&3@0 :"' "4$3)"(. S'$ #,#/*µ$ µ4&3"( '$ "('$2 2)$'< '$ $'$-'83(7"2 /20 6"23&'&µ("0 $%%> -2$ '$ "('$2 $4&/"%"#µ$/2)< #" 43$-µ$/2)50 9,#*0 "9$3µ&-@0 43@4"2 '$ µ4&3"( '$ %"2/&.3-"( #" 43$-µ$/2)< 63<'&. N/*' $'>%.#* -2$ /&'.4&%&-2#µ< /8' 4$3$µ@/38' /&. µ&'/@%&..4"2#@36&'/$2 )2 >%%$ -'8#/> 43&A%5µ$/$ <480 * ")/(µ*#* C@#*0 /&. 6"32&, )$2 /8' $3C3=#"=' /&. $%%> )$2 * :.'$/</*/$ 4$3$)&%&,C*#50 /& /4%(&84$49)') 1&"-4%4µ"2% ; "42%&-5 /&. µ$c*µ$/2)&, µ&'/@%&. #/& 43=/& #/>:2& (# ) /*0 :2$:2)$#($0 $'$-'=32#*0, 4"32%$µA>'"2 /*' µ&'/"%&4&(*#* /8' 6"23&'&µ2=' µ" )>4&2&' $4< /&.0 &32#µ&,0 32

33 !! Κεφάλαιο 2 /8' Pavlovic )$2 Nehaniv. L& 43=/& #/>:2& /&. &32#µ&, C"83"(/$2 4&%, #*µ$'/2)< )$C=0 %"2/&.3-"( 80 43</.4& -2$ /*' $'$-'=32#* #" "4<µ"'& #/>:2&. S6&'/$0 &3(#"2 /$ "(:* /8' 6"23&'&µ2=' $'$%,&.µ" /$ 6832)> )$2 63&'2)> 6$3$)/*32#/2)> /&.0. ; 63&'2)5 $'>%.#* "('$2 $4$3$(/*/* )$C=0 A&*C> #/*' 63&'2)5 )$/>/µ*#* /8' 6"23&'&µ2=' µ"/$?, /&.0 $%%> )$2 /*' #8#/5 )$/>/$?5 /&.0 ($362)&4&(*#*, ")/@%"#*, /"3µ$/2#µ<0). W#&' $9&3> /*' 6832)5 $'>%.#*, µ4&3"( '$ -('"2 µ" :,& /3<4&.0: Xµ"#* "?$-8-5 6"23&'&µ2=' µ@#$ $4< "2)<'"0. I&'/"%&4&2='/$0 /*' )('*#* )$2 /*' C@#* /&. 6"32&, )$2 /*0 4$%>µ*0 )$2,#/"3$ /*' "?$-8-5 /*0 6"23&'&µ($0 µ@#$ $4< /20 4$3$µ@/3&.0 )('*#*0 )$2 C@#*0. ; 43=/* 6832)5 µ@c&:&0 $'$-'=32#*0 A$#(7"/$2 #" 43</.4$ :2#:2>#/$/8' "2)<'8'. B2 4$3>µ"/3&2.4&%&-(7&'/$2 µ@#8 #,-)32#*0 #,'&%& 43</.48' "2)<'8' 4&. 6$3$)/*3(7&.' /*' )>C" 6"23&'&µ($. O4>36"2 ")/"'50 A2A%2&-3$9($ -2$ /* #.-)")32µ@'* µ@c&:& )$C=0 A$#(7"/$2 #" :2#:2>#/$/"0 "2)<'"0 4&. µ4&3&,' '$ 43&),K&.' $4< &4&2$:54&/" RGB camera. O4>36&.' "):&6@0 4&. :*µ2&.3-&,' 43</.4$ /*0 4"329@3"2$0 /&. 6"32&, (Deformable 2D templates) [26]. G3*#2µ&4&2"(/$2 * µ@c&:&0 (PCA) principal component analysis [27] -2$ /&'.4&%&-2#µ< /8' "#8/"32)=' 4$3$µ@/38'(µ"/$A%*/@0 4$3>µ"/3&2, )$2 /$ #*µ"($ 4&. )$/> µ@#& <3& :"' µ"/$a>%%&'/$2), "'= &3(7&'/$2 )$2 &2 "?8/"32)@0 4$3>µ"/3&2 4&. 4"32-3>9&.' µ"/$)('*#* )$2 4"32#/3& &0 /& $362)< #,#/*µ$ #.'/"/$-µ@'8'. N6"/2)> µ" /* :",/"3* 6832)5 µ@c&:&, 63*#2µ&4&2&,'/$2 "(/" &-)&µ"/32)> µ&'/@%$, "(/" #)"%"/2)>. L$ &-)&µ"/32)> µ&'/@%$ $4$2/&,' 4&%, µ"->%*.4&%&-2#/2)5 2#6, )$C=0 #.'C@/&.' /& /32#:2>#/$/& µ&'/@%& /&. 6"32&,, 3.Cµ(7&'/$2-2$ '$ /$./2#/&,' µ" /& 6@32 4&. C@%&.µ" '$ µ&'/"%&4&25#&.µ" )$2 µ" A>#* /& /"%2)< µ&'/@%&.4&%&-(7&.' /*' C@#* /8' $3C3=#"8' #/&' 6=3&. G3*#2µ&4&2&,'/$2 ).3(80 #/* A2&µ*6$'($ /8' )2'&,µ"'8' #6":(8' %<-8 /&. 3"$%2#µ&, 4&. 43&#9@3&.' $%%> 4%@&' )$2 #/&' )%>:& "4"?"3-$#($0 "2)<'8'. I2$ :2$9&3"/2)5 $'/2µ"/=42#* "('$2 * µ&'/"%&4&(*#* -2$ 4$3>:"2-µ$ /&. 6"32&,("42µ@3&.0 µ"3=' )$2 $3C3=#"8') µ" /* #,'C"#* $4%=' /32#:2>#/$/8' -"8µ"/32)=' µ&'/@%8'(-"'2)".µ@'8' ).%(':38', "%%"(K"8', #9$23=') 4&. 63*#2µ&4&2&,' "%>62#/"0 4$3$µ@/3&.0 (/3"20 µ<%20-2$ /&' ),%2':3&). +' µ"28µ@'* $)3(A"2$, * 4&%.4%&)</*/$ "?$)&%&.C"( '$ "('$2 µ"->%*. 33

34 !! Κεφάλαιο 2 L$ 42& #.'5C* <µ80 µ&'/@%$ "('$2 /$ #)"%"/2)>, 4&. 63*#2µ&4&2&,' µ<'& /20 4$3$µ@/3&.0 /8' $3C3=#"8' )$2 /$ /µ5µ$/$ 4&. /20 "'='&.'. P2$ )>C" >3C38#* /(C"/$2 4"32&32#µ< &0 /20-8'("0 4"32#/3&950, 4&. </$' "('$2 $'"?>3/*/* $4< /20 $3C3=#"20 µ" /20 &4&("0 #.':@"/$2 & 4"32&32#µ<0 &'&µ>7"/$2 #/$/2)<0 5 </$' "4*3">7"/$2 * )('*#* /*0 >3C38#*0 )$2 /$ <32$ 4"32#/3&950 /*0 &'&µ>7"/$2 :.'$µ2)<0 4"32&32#µ<0 [28] %:80') ;&"-4%4µ"2% *#" <$484."'µ+=,#-#µ>(-?% Q$/> /* :2$:2)$#($ /*0 $'>%.#*0 /8' 6"23&'&µ2=', /& 43=/& A5µ$ "('$2 * "?$-8-5 /8' 6$3$)/*32#/2)=' $4< /* 3&5 "2)<'8' /*0 )>µ"3$0. L& :",/"3& A5µ$ "('$2 * 635#* /8' #.-)")32µ@'8' 6$3$)/*32#/2)=' -2$ '$ ")/2µ*C&,' &2 4$3>µ"/3&2 /&. µ&'/@%&.. P2$ '$ -('"2 "?$-8-5 /8' 6$3$)/*32#/2)=' $4< /20 "2)<'"0 /8' 6"32=' 43@4"2 43=/$ '$ $'26'"./"( & 635#/*0. +./< µ4&3"( '$ -('"2 µ@#8 /8' 6$3$)/*32#/2)=' 63=µ$/&0 5 $'26'",&'/$0 )('*#* [29]. 1"' C$ $'$9"3C&,µ" #/*' 43=/* 4"3(4/8#* -2$/( $9&3> :2#:2>#/$/"0 "2)<'"0 4&. 4$3>-&.' &2 RGB $2#C*/53"0. H2:2)> -2$ /*' 4"3(4/8#* /&. $2#C*/53$ A>C&.0 /&. Kinect, µ4&3"( '$ $'26'"./"( )('*#* )$2 /& 42& #*µ$'/2)< '$ "?$6C"( /& foreground $4< /& background $9&, * )2'&,µ"'* $'C3=42'* #2%&.@/$ "?@6"2 $4< /&.4<%&24& 4"32A>%%&'. Video Acquisition Background Subtraction Hand Detection Hand Tracing Feature Extraction Gesture Recognition >=+µ$ : K$,-&@ 2+µ$*$ /-$ *;# $#$/#0%-,; ="-%)#)µ-0# µ" B"B)µ1#$ $-,:;*+%$ 2@:)9. N,µ98'$ µ" /& 4$3$4>'8 #65µ$, * :2$:2)$#($ $'>%.#*0 6"23&'&µ2=' )$2.4&%&-2#µ&, 4$3$µ@/38' 4"32%$µA>'"2 /$ "42µ@3&.0 A5µ$/$ /*0 $9$(3"#*0 /&. background, /*0 $'$-'=32#*0 /&. 6"32&,, /*' 4$3$)&%&,C*#5 /&. )$2 /*' "?$-8-5 6$3$)/*32#/2)=' [30]. ; $9$(3"#* /&. background -('"/$2 µ" /*' /µ*µ$/&4&(*#*(segmentation) /8' :":&µ@'8' "2)<'$0 5 A>C&.0 5 )$2 /8' :,&(fusion). ; /µ*µ$/&4&(*#* #.'/"%"(/$2 A3(#)&'/$0 /$ <32$ µ"/$?, $'/2)"2µ@'8' #/*' "2)<'$ 63*#2µ&4&2='/$0 /"6'2)@0 &µ$:&4&(*#*0 <480 & $%-<32Cµ&0 KMeans )$2 & EM(Expectation Maximization Technique) [31]. 34

35 !! Κεφάλαιο 2 ; $'$-'=32#* /&. 6"32&, C@µ$ 4&. 4"32%$µA>'"2 43&A%5µ$/$ )%(µ$)$0(scaling) $%%> )$2 4"32#/3&950(rotation) )$C=0 µ4&3"( '$ A3(#)"/$2 #" &4&2$:54&/" C@#* )$2 µ" &4&2$:54&/" )$/",C.'#* #/& 6=3& [32]. N/* A2A%2&-3$9($ :"'.4>36&.' 4&%%@0 $'$9&3@0 #" /"6'2)@0 µ" /* 635#* "2)<'8' A>C&.0 )$C=0 & "?&4%2#µ<0 :"' /.-6>'"2 ".3"($0 $4&:&650 %<-8 /&..K*%&, )<#/&.0 /&. 80 #5µ"3$. :*µ&#2".c"( $%-<32Cµ&2 4&..4&%&-(7&.' /* C@#* /&. 6"32&, A>#"2 #.-)")32µ@'8' C@#"8' /8' :$)/,%8' )$2 /*0 #6@#*0 µ"/$?, /&.0 [33], "?>-&'/$0 6$3$)/*32#/2)> /&. 6"32&, 63*#2µ&4&2='/$0 /&' $%-<32Cµ& PCA [34], 5 :2#:2>#/$/&.0 )$2 /32#:2>#/$/&.0 4"32-3$9"(0 #65µ$/&0 <480 &2 2D shape descriptors 5 3D volumetric )$2 compressed shape descriptors [32]. >=+µ$ : 3D Shape Descriptors [32] H'$%%$)/2)@0 µ@c&:&2 63*#2µ&4&2&,' 4&%.-8'2)@0 5 4$3$µ"/32)@0 "429>'"2"0 $%%> )$2 #µ5'* $4< /32#:2>#/$/$ #*µ"($(cloud 3D points) -2$ '$ "?>-&.' /"%2)> 6$3$)/*32#/2)> <480-8'("0, )$µ4.%</*/"0, #2%&.@/"0, /&42)> #65µ$/$ )$2 6$3$)/*32#/2)> #*µ"(8' [35]. ; 635#* /8' "2)<'8' A>C&.0 :*µ2&.3-"( 43&A%5µ$/$ $#.'@6"2$0 4&. #/& µ@%%&' C$?"4"3$#/&,' )$C<#&' &2 $2#C*/53"0 4&. /20 4$3>-&.' C$ A"%/2='&'/$2 #" $'>%.#*. S/#2, 4$3&.#2>7&'/$2 /"6'2)@0 4&. %$µa>'&.'.4<k* /*' $4=%"2$ :":&µ@'8' A>C&.0 $4< /&' $2#C*/53$, µ" /*' #.µ4("#* /8' "2)<'8' #/&' 2:2&6=3&(eigenspace) /&. #.'<%&. /8' "2)<'8' ")µ>c*#*0(training set) [36],[37]. ; 4$3$)&%&,C*#* /8' 6"32=' $)&%&.C"( /*0 $'$-'=32#*0 /*0 C@#*0 )$2 &.#2$#/2)> "('$2 µ2$ :2$:2)$#($ /$./&4&(*#*0 /&. (:2&. $'/2)"2µ@'&. #" µ($ '@$ C@#*. D"32%$µA>'"2 $%-&3(Cµ&.0 43<A%"K*0 /*0 "4<µ"'*0 C@#*0 #/*' &4&($ C$ A3"C"( /& 6@32 (* )"'/32)5 /&. µ>7$).4&%&-(7&'/$0 /*' ") /8'.#/@38' #.'>3/*#* 4.)'</*/$0 42C$'</*/$0(posterior pdf) [38]. L& )@'/3& µ>7$0 /&. 6"32&, µ4&3"( '$ 43&#:2&32#/"( µ" /20 #.'/"/$-µ@'"0 /&. #/& 6=3& )$2 µ" /20-8'("0 4"32#/3&950 35

36 !! Κεφάλαιο &0 /& $362)< #,#/*µ$ #.'/"/$-µ@'8' µ" /& :"2-µ$/&6=3& "4&µ@'80, 6 :2$#/>#"20 (6D). N/*' 4"3(4/8#* $./5 <480 )$2 #/$ &-)&µ"/32)> /32#:2>#/$/$ µ&'/@%$, * 4$3$)&%&,C*#* µ4&3"( '$ "42/".6C"( µ" /* 635#* Kalman 9(%/3&. [39],[40] <480 "4(#*0 µ4&3"( '$ -('"2 )$2 "?&µ>%.'#* /*0 4$3$/*3&,µ"'*0 )('*#*. *#" 6%#.%2-"') ;&"-4%4µ"2% N/& /"%"./$(& A5µ$ /*0 $'$-'=32#*0 6"23&'&µ2=', "('$2 * 9>#* #/*' &4&($ /$ :":&µ@'$ "2)<'8' $'$%.C"( C$ $'$-'832#/&,' 80 #.-)")32µ@'"0 6"23&'&µ("0. L& #/>:2& $./< 4"32%$µA>'"2 /*' ")µ>c*#* µ@#8 4$3$:"2-µ>/8' 4&. µ4&3"( '$ -('"2 µ" :2$9&3"/2)&,0 /3<4&.0, $%%> )$2 /*'.%&4&(*#* /*0 :2$:2)$#($0 $'$-'=32#*0. N/* 9>#* ")µ>c*#*0, /& #,#/*µ$ µ$c$('"2-2$ /*',4$3?* /8' 6"23&'&µ2=' µ@#8 µ2$0 :2$:2)$#($0 ")4$(:".#*0 (training) 4&. "('$2 $4&/"%"#µ$/2)5 µ" /* 635#* /8' Hidden Markov Models(HMM) [41],[42],[43],[44]. L& ;II 42C$'&/2)< :()/.& µ" )3.µµ@'"0(hidden) )$2 4$3$/*35#2µ"0(observable) )$/$#/>#"20. L& #,#/*µ$ )>C" #/2-µ5 A3(#)"/$2 #" µ($ $4< /20 )3.µµ@'"0 )$/$#/>#"20 &2 &4&("0 )$C&3(7&.' /*' :.'$µ2)5 #.µ4"329&3> /&. µ&'/@%&.. B2 4$3$/*35#2µ"0, $'/2C@/80, 4$3>-&.' "?<:&.0 )$/> /20 µ"/$a>#"20 µ"/$?, /8' )3.9=' )$/$#/>#"8' 5 </$' /& µ&'/@%& A3(#)"/$2 #" µ($ $4< /20 )3.µµ@'"0 )$/$#/>#"20 [23]. N" )>C" 4"3(4/8#*, )3.µµ@'"0 )$2 4$3$/*35#2µ"0 )$/$#/>#"20 6$3$)/*3(7&'/$2 $4< 42C$'&/2)&,0 )$'<'"0. Q>C" HMM µ4&3"( '$ #.#6"/(7"/$2 µ" µ($ #.-)")32µ@'* 6"23&'&µ($ -2$ /*' &4&($ &2 6832)@0 4$3>µ"/3&2 $4&/"%&,' /*' 4$3$/*35#2µ* )$/>#/$#*. H4&µ@'80, -2$ '$ #.#6"/2#/&,' &2 4$3$/*3&,µ"'"0 6"23&'&µ("0 µ" :2$9&3"/2)> µ&'/@%$ HMM $4$2/"(/$2 µ2$ :2$:2)$#($ ")µ>c*#*0 <480 43&$'$9@3C*)". N/*' ")µ>c*#*, "426"23"(/$2 * A@%/2#/* "42%&-5 /&. µ&'/@%&. 4&. 4"32-3>9"2 )$%,/"3$ /* 683&63&'2)5 :.'$µ2)5 /*0 6"23&'&µ($0 4&. C@%&.µ" '$ $'$-'83(#&.µ". ; A"%/2#/&4&(*#* $./5 "42/.-6>'"/$2 µ" /*' µ"-2#/&4&(*#* /*0 42C$'</*/$0: log(pr(observation model )) (1) ;.%&4&(*#* /*0 :2$:2)$#($0 $'$-'=32#*0 4"32%$µA>'"2 /*' $'$75/*#* /*0 6"23&'&µ($0 4&. $'26'",/*)" #/& #,'&%& /8' ")4$2:".µ@'8' HMMs. ; 42C$'</*/$ µ($ 6"23&'&µ($ '$ $'5)"2 #" )>4&2$ $4< /20 ")4$2:".µ@'"0 $?2&%&-"(/$2 µ" /&' $%-<32Cµ& /&. Viterbi [23]. 36