Feature Selection for Grasp Recognition from Optical Markers

Lillian Y. Chang, Nancy Pollard, Tom Mitchell, and Eric P. Xing
Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 2944 - 2950.


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Abstract
Although the human hand is a complex biomechanical system, only a small set of features may be necessary for observation learning of functional grasp classes. We explore how to methodically select a minimal set of hand pose features from optical marker data for grasp recognition. Supervised feature selection is used to determine a reduced feature set of surface marker locations on the hand that is appropriate for grasp classification of individual hand poses. Classifiers trained on the reduced feature set of five markers retain at least 92% of the prediction accuracy of classifiers trained on a full feature set of thirty markers. The reduced model also generalizes better to new subjects. The dramatic reduction of the marker set size and the success of a linear classifier from local marker coordinates recommend optical marker techniques as a practical alternative to data glove methods for observation learning of grasping.

Notes
Sponsor: NSF
Grant ID: CCF-0343161, IIS-0326322, ECS-0325383, CNS-0423546, and CCF-0702443
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Number of pages: 7
Note: Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Text Reference
Lillian Y. Chang, Nancy Pollard, Tom Mitchell, and Eric P. Xing, "Feature Selection for Grasp Recognition from Optical Markers," Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 2944 - 2950.

BibTeX Reference
@inproceedings{Chang_2007_5811,
   author = "Lillian Y. Chang and Nancy Pollard and Tom Mitchell and Eric P. Xing",
   title = "Feature Selection for Grasp Recognition from Optical Markers",
   booktitle = "Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2007)",
   pages = "2944 - 2950",
   month = "October",
   year = "2007",
   Notes = "Copyright 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."
}