Control Buggy using Leap Sensor Camera in Data Mining Domain

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 11 | Nov -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 2172
Control buggy using Leap sensor camera in Data Mining Domain.
Prof Bhadkumbhe S.M.1, Kurup Amitha2, Jadhav Snehal3, Makar Shraddha4, Ghule Priyanka5
Dept. Computer Engineering, PDEA’s college of Manjari (BK), Maharashtra, Indian
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Abstract - This paper portrays a method for controllingthe
buggy with proper gestures utilizing the leap motion camera.
We have used leap as motion controller and the operation is
completed on a buggy. The proper gesture for the action to be
performed is accumulated in the database, whenthegestureis
performed five points are extracted from which fifteen
features are selected and this fifteen features are furtherused
for comparison with stored gestureusingsimilarityalgorithm
and the proper gesture identified by the system which is
further performed by the buggy. In thissystemwearegoingto
develop a buggy having two Direct Current motors connected
to microcontroller via device driver. The micro-controller is
affiliated to the PC by Max 232serialcommunication wire. The
above mentioned system diminishes the human efforts while
driving a car in real life (buggy is considered). This paperdoes
not make driving 100% automatic but it reduces the effortsto
a greater extent elevates the efficiency of the system.
Key Words: Leap motion, gesture, Euclidean distance,
cosinesimilarity,Trajectoryfeature,gesturerecognition
1. INTRODUCTION
Now days the use of community transport like car has
increased a lot in last few years. People send most of their
energy driving from one locality to another, short as well as
long distance. So to reduce the effortsrequired bythehuman
being this system is designed. In our case gesture is used to
control the buggy/car. Gesture is the movement or action
performed by body/limbs/hands to express certain idea or
sentiments. In simple words gesture means talking with
hands. The capturing of the gesture is carried out by
different devices in our case leap camera controller is used
for gesture recognition which are performed by hand and
this results in the motion or controlling of the buggy by
gestures of human hand.
In order to send the correct gesture to the buggy the system
requires some device that could scan the image of gesture.
The leap camera is utilized to capture the actual gesture
performed by the human being in other words leap is just a
simple device that provides input to the system. Theheart of
the device consists of two camera & three infrared LEDS. It
can track wavelength about 850 nm outside visible light
spectrum. The viewing range of the device of the device is
2.6 feet. The data is in gray scale from which is separated
into left & right cameras.
As soon as the image data is streamed to your computer, the
mathematical calculation takes place. The leap motion
service is the software present in the computer that
processes the image
Fig 1: Leap Motion coordinates.
2. Literature Review
Gesture Control of Drone Using a Motion Controller [1]
provide an easy way to interact and communicate with
machine. The human gesture or actions are applied to
interact or to control the AR Drone .The actions done by the
drone are lifting, moving and yawing. It also perform
movements for flips, python script is used for flip. . The Leap
Motion Controller uses its two monochromatic infrared(IR)
cameras and three infrared LEDs to identify any gesture
performed above the leap to a distance of 1 meter or 3 feet
directly above the leap. Means it creates a hemispherical
area around it which is about 1 meter and recognize any
hand gesture in that volume.
A lot of analysis work is completed in recognition of leap
gesture. Several techniques are planned for recognition of
hand gestures. During a Gesture Guided Moving mechanism
with Microsoft Kinect [2]: demonstrate a gesture-guided
mechanism moving system that is controlled by human
gestures and keep step with the controller with
comparatively constant distance. They used 2 advance
devices programmable mechanism system: iRobot [1] and
Microsoft Kinect [2]. Some straightforward gestures will be
accustomed build the mechanismmoveany,closer,andkeep
step with the walking person.
Application of hand detection algorithm in robot control [3]
presented the concept of vision based robot control system
.The hand detection algorithmincontrollingrobotpresented
a robot control system which is vision based. To control the
robot manipulator hand gesture tracking and detection
algorithm is used. The points and their paths are converted
into a set of orientation and location value so as to achieve
appropriate motion of manipulator. Thedrawback isthatfor
accuracy we need to provide appropriate.
Indian Sign Language to Forecast Text using Leap Motion
Sensor and RF Classifier its proffered system involve

recognition of Indian language (ISL) exploitation Leap
Motion sensing element. The device extracts vital
characters/ attributes from the dataset such high-accuracy
angle between fingers cab be retrieved, and this could be
used for sturdy prediction. Feature classifier is employed to
spot that gesture is being performed. Here, Random Forest
(RF) classifier model is employed as feature classification. A
block-list classifier is employed to get rid of all non-gestures
frames, when that correct gesture frames area unit
recognized by RF to create a significant word. This
significant word is then displayed on digital display.
Downside of this analysis is every country and every region
has its own language, therefore this model is beneficial for
less than individuals who now the Indian language.
The motion controller’s internal elements could be a 2
camera digital to find the motion of the hands and fingers
and a 3 LED’s infrared for detective work the space between
the user’s hands with the leap motion controller, to find the
space for controlling the automaton arm. Mainframe within
the LEAP motion controller is processing visual information.
It then sends the info of the movement of the hand and
fingers into the pc. The information are formatted data on
the space and the position coordinates of the hand and
fingers at the moment send to the microcontroller for signal
process and send management commands to drive server
motor to manage the robotic arm. This technique carries
with it four main parts:
 The signal detection consists of a Leap motion
controller
 The signal processing part using JavaScript and
node.js
 Microcontroller
 The robotic arm
3. Proposed System
Fig 2: Flow chart
We have proffered a system which identifies the gesture
done by the user which is detected by the leap motion
camera and the appropriate gesture is performed by the
buggy. In this system 6 points are extracted fromthegesture
done above or incident to the leap motion camera. From
these 6 points the features requiredfordetectingthegesture
are calculated. In the previous system only 12 features were
identified in this system total of 15 features are selected
making the system more efficient. The proffered system is
partitioned into 4 main steps:
1. Leap interfacing
2. Preprocessing and point extraction
3. Feature extraction
4. Feature comparison
Fig 3: Block diagram
1. Leap interfacing
The software used for leap motion runs as a service of
window system. The leap motion services are accessed
by leap enabled application for the sake of receiving the
data, leap motion SDK contribute 2 API which are
a) Native interface
b) Web socket interface
a) Native interface :
It is a set of small programs that can be loaded
whenever needed (dynamic library) which is
used to compose new leap enabled application.
b) Web socket interface :
The web socket interface & JavaScript client
library are together used to develop leapenabled
web applications.

2. Preprocessing and point extraction
Initially the features for the appropriate gestureandthe
action to be performed are hoarded in the database as
the dataset for future recognition.Assoonasthegesture
is done by the user in front of leap camera. Extraction of
the 6 points take place these 6 points indicate the
centroid of the five fingers which are thumb, index
finger, middle finger, ring finger & the centroid of plan.
3. Feature extraction :
The features required for the system are extracted
from the 6 points in order to analyze the action to be
performed the features are selectedtotal 15featuresare
selected for appropriate identification of action to be
performed, the extracted features are actually the
distance between all points. The 6 points are p1(x1, y1,
z1)……p6(x6, y6, z6) to find the distance between
points Euclidean distance formula is applied:
Fig 4: Points extraction
4. Feature comparison
Once the 15 features are selected for each gesture a
value is calculated for this. Then the current value is
compared with the features in the dataset the value
which is near the value of the current gesture is the
gestured action which is to be performed. In order to
compare and find the appropriate action for the gesture
the cosine similarity formula is used which is
Where and are components of vector and respectively.
4. HARDWARE USED
1. ATmega32
Fig 5: ATmega32
ATmega32 is an 8-bit a sophisticated microcontroller of
Atmel's Huge AVR family. Atmega32 is dependent on
increased RISC architecture which consist of 131 powerful
instructions. Almost all of the instructions execute in one
instruction cycle. Atmega32 can work s on the maximum
periodicity of 16MHz.
2. MAX232
Fig 6: MAX232

The MAX232 IC is utilized to convert the TTL logic levels to
RS232 logic levels during serial communication of
microcontrollers with computer. The controller operates At
TTL logic level (0-5V) the controller works whereas the
serial communication in computer works on RS232
standards (-25 V to + 25V). This makes it challenging to
create a direct association between them to interact with
each other.
ULN2803
Fig 7: ULN2803
ULN28xx high voltage, excessive-cutting-edge Darlington
arrays are used for interfacing among low degree logic
circuitry and a couple of peripheral powerloads.Someof the
loads are solenoid, magnetic print hammers and heaters. All
the devices have featureopen-collectoroutputswithintegral
clamp diodes.
3. Sensor used (IR Sensor)
Fig 8: IR Sensor
The IR sensor is a tool which detects IR the radiation falling
on it. There are several types of IR receptors that are built
and can be built with respect to the application. Proximity
sensors (Used in mobile phones and Edge Avoiding
Robots),contrast sensors (Used in Line Following Robots)
and blockage counters/sensors (Used for keeping track of
goods and in Thief Alarms) are some illustrations, whichuse
IR sensors.
Every sensor in this world has three ports:
 VCC - to switch on the sensor
 GND – to set negative reference
 Output - analog output of the sensor(in some
receptors , there may be more than one output
terminals)
In this system the IR sensor is used to detect the obstacles in
front of the buggy/car.
5. CONCLUSIONS
We have proffered a framework to control buggyusinghand
gesture. In this study we have utilized hand motion dataset
that includes numerous gesture representations. We have
utilized leap motion sensor camera to observe hand motion.
To compare current gesture with stored gesture we have
extracted a feature set. The features are calculated using
Euclidean distance formula. This feature set will be
compared with stored data usingcosinesimilarityandbuggy
will take appropriate action.
In this study we have utilized 3D leap motion sensor camera
and we have extracted features of hand or fingers for
maximum accuracy. For detecting gesture in 3D we can use
AI based algorithm for further study
REFERENCES
[1] Ayanava Sarkar, Ganesh Ram R.K., Ketul Arvindbhai
Patel, Geet Krishna Capoor, “Gesture Control of Drone
Using a Motion Controller” BITS Pilani, Dubai Campus,
2016.
[2] Qingyu Li, Panlong Yang, “A Gesture Guided Moving
Robot with Microsoft Kinect”,CollegeofCommunication
Engineering, PLA University of Science and Technology,
2013.
[3] Tomasz Grzejszczak, Adrian Łe，gowski, Michał
Niezabitowski, “Tomasz Grzejszczak, Adrian
Łe，gowski, Michał Niezabitowski”, Akademicka 16
Street, 44-100 Gliwice, Poland, 2016.
[4] Poonam Chavan1, Prof. Tushar Ghorpade2, Prof. Puja
Padiya3, “Indian Sign Language to Forecast Text using
Leap Motion Sensor and RF Classifier”, Ramrao Adik
Institute of Technology Nerul, Navi Mumbai,
Maharashtra 400706 , 2017.
[5] Y.Pititeeraphob, P.Choitkuman, N.Thongpance,
K.Kullatham, Ch.Pintavirooj, “Robot-armcontrol system
using leap motion controller”, Rangsit University,
Pathumthani, Thailand, 2017.
[6] Shogo Okada1 and Kazuhiro Otsuka, “Recognizing
Words from Gestures: Discovering Gesture Descriptors
Associated with Spoken Utterances”, School of
Computing, Tokyo Institute of Technology, Japan 2 NTT
Communication Science Laboratories, Japan, 2017.
[7] A. Marcos-Ramiro et al. Body communicative cue
extraction for conversational analysis. In IEEE Int. Conf.
on Automatic Face and Gesture Recognition, 2013.
[8] A. Joshi et al. A random forest approach to segmenting
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Control Buggy using Leap Sensor Camera in Data Mining Domain

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