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Keywords = fingerspelling

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16 pages, 2283 KiB  
Article
Recognition of Japanese Finger-Spelled Characters Based on Finger Angle Features and Their Continuous Motion Analysis
by Tamon Kondo, Ryota Murai, Zixun He, Duk Shin and Yousun Kang
Electronics 2025, 14(15), 3052; https://doi.org/10.3390/electronics14153052 - 30 Jul 2025
Viewed by 168
Abstract
To improve the accuracy of Japanese finger-spelled character recognition using an RGB camera, we focused on feature design and refinement of the recognition method. By leveraging angular features extracted via MediaPipe, we proposed a method that effectively captures subtle motion differences while minimizing [...] Read more.
To improve the accuracy of Japanese finger-spelled character recognition using an RGB camera, we focused on feature design and refinement of the recognition method. By leveraging angular features extracted via MediaPipe, we proposed a method that effectively captures subtle motion differences while minimizing the influence of background and surrounding individuals. We constructed a large-scale dataset that includes not only the basic 50 Japanese syllables but also those with diacritical marks, such as voiced sounds (e.g., “ga”, “za”, “da”) and semi-voiced sounds (e.g., “pa”, “pi”, “pu”), to enhance the model’s ability to recognize a wide variety of characters. In addition, the application of a change-point detection algorithm enabled accurate segmentation of sign language motion boundaries, improving word-level recognition performance. These efforts laid the foundation for a highly practical recognition system. However, several challenges remain, including the limited size and diversity of the dataset and the need for further improvements in segmentation accuracy. Future work will focus on enhancing the model’s generalizability by collecting more diverse data from a broader range of participants and incorporating segmentation methods that consider contextual information. Ultimately, the outcomes of this research should contribute to the development of educational support tools and sign language interpretation systems aimed at real-world applications. Full article
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18 pages, 4982 KiB  
Article
Unsupervised Clustering and Ensemble Learning for Classifying Lip Articulation in Fingerspelling
by Nurzada Amangeldy, Nazerke Gazizova, Marek Milosz, Bekbolat Kurmetbek, Aizhan Nazyrova and Akmaral Kassymova
Sensors 2025, 25(12), 3703; https://doi.org/10.3390/s25123703 - 13 Jun 2025
Viewed by 402
Abstract
This paper presents a new methodology for analyzing lip articulation during fingerspelling aimed at extracting robust visual patterns that can overcome the inherent ambiguity and variability of lip shape. The proposed approach is based on unsupervised clustering of lip movement trajectories to identify [...] Read more.
This paper presents a new methodology for analyzing lip articulation during fingerspelling aimed at extracting robust visual patterns that can overcome the inherent ambiguity and variability of lip shape. The proposed approach is based on unsupervised clustering of lip movement trajectories to identify consistent articulatory patterns across different time profiles. The methodology is not limited to using a single model. Still, it includes the exploration of varying cluster configurations and an assessment of their robustness, as well as a detailed analysis of the correspondence between individual alphabet letters and specific clusters. In contrast to direct classification based on raw visual features, this approach pre-tests clustered representations using a model-based assessment of their discriminative potential. This structured approach enhances the interpretability and robustness of the extracted features, highlighting the importance of lip dynamics as an auxiliary modality in multimodal sign language recognition. The obtained results demonstrate that trajectory clustering can serve as a practical method for generating features, providing more accurate and context-sensitive gesture interpretation. Full article
(This article belongs to the Section Intelligent Sensors)
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26 pages, 769 KiB  
Article
“But Who Eats the Mosquitos?”: Deaf Learners’ Language Use and Translanguaging During STEAM Discussions
by Jessica Scott, Patrick Enderle, Scott Cohen, Jasmine Smith and Reagan Hutchison
Educ. Sci. 2025, 15(5), 538; https://doi.org/10.3390/educsci15050538 - 27 Apr 2025
Viewed by 472
Abstract
Science, technology, engineering, arts, and mathematics (STEAM) education represents an array of fields that have significant promise for the future careers of students. However, in deaf education, little research has been conducted to understand how best to provide access to STEAM learning opportunities [...] Read more.
Science, technology, engineering, arts, and mathematics (STEAM) education represents an array of fields that have significant promise for the future careers of students. However, in deaf education, little research has been conducted to understand how best to provide access to STEAM learning opportunities for deaf students. This manuscript explores STEAM learning and Deaf Education through the lens of translanguaging. Translanguaging is the use of multiple linguistic resources by multilingual individuals. The authors recorded deaf teens attending a STEAM camp as they engaged in a collaborative problem-solving activity to explore the language resources they used to make sense of and communicate their understanding of the problem during various stages of the activity (gathering information, generating ideas, and evaluating ideas). We viewed their interactions through a translanguaging lens. We found that the campers used an array of both language-based (ASL, spoken English, gesture, and fingerspelling) and tool-based (writing on a whiteboard, engaging with informational papers, using computers or phones) translanguaging activities to gather information and communicate with one another. While selection of language resources did not differ by activity stage, they did differ by group, suggesting that campers were sensitive to the communication needs of their group mates. Full article
(This article belongs to the Special Issue Full STEAM Ahead! in Deaf Education)
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91 pages, 3615 KiB  
Systematic Review
Machine Learning and Deep Learning Approaches for Arabic Sign Language Recognition: A Decade Systematic Literature Review
by Asmaa Alayed
Sensors 2024, 24(23), 7798; https://doi.org/10.3390/s24237798 - 5 Dec 2024
Cited by 1 | Viewed by 2232
Abstract
Sign language (SL) is a means of communication that is used to bridge the gap between the deaf, hearing-impaired, and others. For Arabic speakers who are hard of hearing or deaf, Arabic Sign Language (ArSL) is a form of nonverbal communication. The development [...] Read more.
Sign language (SL) is a means of communication that is used to bridge the gap between the deaf, hearing-impaired, and others. For Arabic speakers who are hard of hearing or deaf, Arabic Sign Language (ArSL) is a form of nonverbal communication. The development of effective Arabic sign language recognition (ArSLR) tools helps facilitate this communication, especially for people who are not familiar with ArSLR. Although researchers have investigated various machine learning (ML) and deep learning (DL) methods and techniques that affect the performance of ArSLR systems, a systematic review of these methods is lacking. The objectives of this study are to present a comprehensive overview of research on ArSL recognition and present insights from previous research papers. In this study, a systematic literature review of ArSLR based on ML/DL methods and techniques published between 2014 and 2023 is conducted. Three online databases are used: Web of Science (WoS), IEEE Xplore, and Scopus. Each study has undergone the proper screening processes, which include inclusion and exclusion criteria. Throughout this systematic review, PRISMA guidelines have been appropriately followed and applied. The results of this screening are divided into two parts: analysis of all the datasets utilized in the reviewed papers, underscoring their characteristics and importance, and discussion of the ML/DL techniques’ potential and limitations. From the 56 articles included in this study, it was noticed that most of the research papers focus on fingerspelling and isolated word recognition rather than continuous sentence recognition, and the vast majority of them are vision-based approaches. The challenges remaining in the field and future research directions in this area of study are also discussed. Full article
(This article belongs to the Section Intelligent Sensors)
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22 pages, 12633 KiB  
Article
MediaPipe Frame and Convolutional Neural Networks-Based Fingerspelling Detection in Mexican Sign Language
by Tzeico J. Sánchez-Vicinaiz, Enrique Camacho-Pérez, Alejandro A. Castillo-Atoche, Mayra Cruz-Fernandez, José R. García-Martínez and Juvenal Rodríguez-Reséndiz
Technologies 2024, 12(8), 124; https://doi.org/10.3390/technologies12080124 - 1 Aug 2024
Cited by 7 | Viewed by 3988
Abstract
This research proposes implementing a system to recognize the static signs of the Mexican Sign Language (MSL) dactylological alphabet using the MediaPipe frame and Convolutional Neural Network (CNN) models to correctly interpret the letters that represent the manual signals coming from a camera. [...] Read more.
This research proposes implementing a system to recognize the static signs of the Mexican Sign Language (MSL) dactylological alphabet using the MediaPipe frame and Convolutional Neural Network (CNN) models to correctly interpret the letters that represent the manual signals coming from a camera. The development of these types of studies allows the implementation of technological advances in artificial intelligence and computer vision in teaching Mexican Sign Language (MSL). The best CNN model achieved an accuracy of 83.63% over the sets of 336 test images. In addition, considering samples of each letter, the following results are obtained: an accuracy of 84.57%, a sensitivity of 83.33%, and a specificity of 99.17%. The advantage of this system is that it could be implemented on low-consumption equipment, carrying out the classification in real-time, contributing to the accessibility of its use. Full article
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4 pages, 447 KiB  
Proceeding Paper
ASL Fingerspelling Classification for Use in Robot Control
by Kevin McCready, Dermot Kerr, Sonya Coleman and Emmett Kerr
Eng. Proc. 2024, 65(1), 12; https://doi.org/10.3390/engproc2024065012 - 6 Mar 2024
Viewed by 942
Abstract
This paper proposes a gesture-based control system for industrial robots. To achieve that goal, the performance of an image classifier trained on three different American Sign Language (ASL) fingerspelling image datasets is considered. Then, the three are combined into a single larger dataset, [...] Read more.
This paper proposes a gesture-based control system for industrial robots. To achieve that goal, the performance of an image classifier trained on three different American Sign Language (ASL) fingerspelling image datasets is considered. Then, the three are combined into a single larger dataset, and the classifier is trained on that. The result of this process is then compared with the original three. Full article
(This article belongs to the Proceedings of The 39th International Manufacturing Conference)
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25 pages, 7137 KiB  
Article
Comparative Analysis of Image Classification Models for Norwegian Sign Language Recognition
by Benjamin Svendsen and Seifedine Kadry
Technologies 2023, 11(4), 99; https://doi.org/10.3390/technologies11040099 - 15 Jul 2023
Cited by 6 | Viewed by 3417
Abstract
Communication is integral to every human’s life, allowing individuals to express themselves and understand each other. This process can be challenging for the hearing-impaired population, who rely on sign language for communication due to the limited number of individuals proficient in sign language. [...] Read more.
Communication is integral to every human’s life, allowing individuals to express themselves and understand each other. This process can be challenging for the hearing-impaired population, who rely on sign language for communication due to the limited number of individuals proficient in sign language. Image classification models can be used to create assistive systems to address this communication barrier. This paper conducts a comprehensive literature review and experiments to find the state of the art in sign language recognition. It identifies a lack of research in Norwegian Sign Language (NSL). To address this gap, we created a dataset from scratch containing 24,300 images of 27 NSL alphabet signs and performed a comparative analysis of various machine learning models, including the Support Vector Machine (SVM), K-Nearest Neighbor (KNN), and Convolutional Neural Network (CNN) on the dataset. The evaluation of these models was based on accuracy and computational efficiency. Based on these metrics, our findings indicate that SVM and CNN were the most effective models, achieving accuracies of 99.9% with high computational efficiency. Consequently, the research conducted in this report aims to contribute to the field of NSL recognition and serve as a foundation for future studies in this area. Full article
(This article belongs to the Special Issue Image and Signal Processing)
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13 pages, 2881 KiB  
Article
Assistive Data Glove for Isolated Static Postures Recognition in American Sign Language Using Neural Network
by Muhammad Saad Amin, Syed Tahir Hussain Rizvi, Alessandro Mazzei and Luca Anselma
Electronics 2023, 12(8), 1904; https://doi.org/10.3390/electronics12081904 - 18 Apr 2023
Cited by 10 | Viewed by 2860
Abstract
Sign language recognition is one of the most challenging tasks of today’s era. Most of the researchers working in this domain have focused on different types of implementations for sign recognition. These implementations require the development of smart prototypes for capturing and classifying [...] Read more.
Sign language recognition is one of the most challenging tasks of today’s era. Most of the researchers working in this domain have focused on different types of implementations for sign recognition. These implementations require the development of smart prototypes for capturing and classifying sign gestures. Keeping in mind the aspects of prototype design, sensor-based, vision-based, and hybrid approach-based prototypes have been designed. The authors in this paper have designed sensor-based assistive gloves to capture signs for the alphabet and digits. These signs are a small but important fraction of the ASL dictionary since they play an essential role in fingerspelling, which is a universal signed linguistic strategy for expressing personal names, technical terms, gaps in the lexicon, and emphasis. A scaled conjugate gradient-based back propagation algorithm is used to train a fully-connected neural network on a self-collected dataset of isolated static postures of digits, alphabetic, and alphanumeric characters. The authors also analyzed the impact of activation functions on the performance of neural networks. Successful implementation of the recognition network produced promising results for this small dataset of static gestures of digits, alphabetic, and alphanumeric characters. Full article
(This article belongs to the Section Computer Science & Engineering)
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15 pages, 4911 KiB  
Article
American Sign Language Alphabet Recognition Using Inertial Motion Capture System with Deep Learning
by Yutong Gu, Sherrine, Weiyi Wei, Xinya Li, Jianan Yuan and Masahiro Todoh
Inventions 2022, 7(4), 112; https://doi.org/10.3390/inventions7040112 - 1 Dec 2022
Cited by 10 | Viewed by 9695
Abstract
Sign language is designed as a natural communication method for the deaf community to convey messages and connect with society. In American sign language, twenty-six special sign gestures from the alphabet are used for the fingerspelling of proper words. The purpose of this [...] Read more.
Sign language is designed as a natural communication method for the deaf community to convey messages and connect with society. In American sign language, twenty-six special sign gestures from the alphabet are used for the fingerspelling of proper words. The purpose of this research is to classify the hand gestures in the alphabet and recognize a sequence of gestures in the fingerspelling using an inertial hand motion capture system. In this work, time and time-frequency domain features and angle-based features are extracted from the raw data for classification with convolutional neural network-based classifiers. In fingerspelling recognition, we explore two kinds of models: connectionist temporal classification and encoder-decoder structured sequence recognition model. The study reveals that the classification model achieves an average accuracy of 74.8% for dynamic ASL gestures considering user independence. Moreover, the proposed two sequence recognition models achieve 55.1%, 93.4% accuracy in word-level evaluation, and 86.5%, 97.9% in the letter-level evaluation of fingerspelling. The proposed method has the potential to recognize more hand gestures of sign language with highly reliable inertial data from the device. Full article
(This article belongs to the Collection Feature Innovation Papers)
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20 pages, 5194 KiB  
Review
Fingerspelling and Its Role in Translanguaging
by Brittany Lee and Kristen Secora
Languages 2022, 7(4), 278; https://doi.org/10.3390/languages7040278 - 1 Nov 2022
Cited by 10 | Viewed by 6672
Abstract
Fingerspelling is a critical component of many sign languages. This manual representation of orthographic code is one key way in which signers engage in translanguaging, drawing from all of their linguistic and semiotic resources to support communication. Translanguaging in bimodal bilinguals is unique [...] Read more.
Fingerspelling is a critical component of many sign languages. This manual representation of orthographic code is one key way in which signers engage in translanguaging, drawing from all of their linguistic and semiotic resources to support communication. Translanguaging in bimodal bilinguals is unique because it involves drawing from languages in different modalities, namely a signed language like American Sign Language and a spoken language like English (or its written form). Fingerspelling can be seen as a unique product of the unified linguistic system that translanguaging theories purport, as it blends features of both sign and print. The goals of this paper are twofold: to integrate existing research on fingerspelling in order to characterize it as a cognitive-linguistic phenomenon and to discuss the role of fingerspelling in translanguaging and communication. We will first review and synthesize research from linguistics and cognitive neuroscience to summarize our current understanding of fingerspelling, its production, comprehension, and acquisition. We will then discuss how fingerspelling relates to translanguaging theories and how it can be incorporated into translanguaging practices to support literacy and other communication goals. Full article
(This article belongs to the Special Issue Translanguaging in Deaf Communities)
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27 pages, 1519 KiB  
Article
Predictors of Word and Text Reading Fluency of Deaf Children in Bilingual Deaf Education Programmes
by Ellen Ormel, Marcel R. Giezen, Harry Knoors, Ludo Verhoeven and Eva Gutierrez-Sigut
Languages 2022, 7(1), 51; https://doi.org/10.3390/languages7010051 - 25 Feb 2022
Cited by 13 | Viewed by 6594
Abstract
Reading continues to be a challenging task for most deaf children. Bimodal bilingual education creates a supportive environment that stimulates deaf children’s learning through the use of sign language. However, it is still unclear how exposure to sign language might contribute to improving [...] Read more.
Reading continues to be a challenging task for most deaf children. Bimodal bilingual education creates a supportive environment that stimulates deaf children’s learning through the use of sign language. However, it is still unclear how exposure to sign language might contribute to improving reading ability. Here, we investigate the relative contribution of several cognitive and linguistic variables to the development of word and text reading fluency in deaf children in bimodal bilingual education programmes. The participants of this study were 62 school-aged (8 to 10 years old at the start of the 3-year study) deaf children who took part in bilingual education (using Dutch and Sign Language of The Netherlands) and 40 age-matched hearing children. We assessed vocabulary knowledge in speech and sign, phonological awareness in speech and sign, receptive fingerspelling ability, and short-term memory at time 1 (T1). At times 2 (T2) and 3 (T3), we assessed word and text reading fluency. We found that (1) speech-based vocabulary strongly predicted word and text reading at T2 and T3, (2) fingerspelling ability was a strong predictor of word and text reading fluency at T2 and T3, (3) speech-based phonological awareness predicted word reading accuracy at T2 and T3 but did not predict text reading fluency, and (4) fingerspelling and STM predicted word reading latency at T2 while sign-based phonological awareness predicted this outcome measure at T3. These results suggest that fingerspelling may have an important function in facilitating the construction of orthographical/phonological representations of printed words for deaf children and strengthening word decoding and recognition abilities. Full article
(This article belongs to the Special Issue The Cognitive Nature of Bilingual Reading)
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22 pages, 25356 KiB  
Article
RFaNet: Receptive Field-Aware Network with Finger Attention for Fingerspelling Recognition Using a Depth Sensor
by Shih-Hung Yang, Yao-Mao Cheng, Jyun-We Huang and Yon-Ping Chen
Mathematics 2021, 9(21), 2815; https://doi.org/10.3390/math9212815 - 5 Nov 2021
Cited by 4 | Viewed by 2306
Abstract
Automatic fingerspelling recognition tackles the communication barrier between deaf and hearing individuals. However, the accuracy of fingerspelling recognition is reduced by high intra-class variability and low inter-class variability. In the existing methods, regular convolutional kernels, which have limited receptive fields (RFs) and often [...] Read more.
Automatic fingerspelling recognition tackles the communication barrier between deaf and hearing individuals. However, the accuracy of fingerspelling recognition is reduced by high intra-class variability and low inter-class variability. In the existing methods, regular convolutional kernels, which have limited receptive fields (RFs) and often cannot detect subtle discriminative details, are applied to learn features. In this study, we propose a receptive field-aware network with finger attention (RFaNet) that highlights the finger regions and builds inter-finger relations. To highlight the discriminative details of these fingers, RFaNet reweights the low-level features of the hand depth image with those of the non-forearm image and improves finger localization, even when the wrist is occluded. RFaNet captures neighboring and inter-region dependencies between fingers in high-level features. An atrous convolution procedure enlarges the RFs at multiple scales and a non-local operation computes the interactions between multi-scale feature maps, thereby facilitating the building of inter-finger relations. Thus, the representation of a sign is invariant to viewpoint changes, which are primarily responsible for intra-class variability. On an American Sign Language fingerspelling dataset, RFaNet achieved 1.77% higher classification accuracy than state-of-the-art methods. RFaNet achieved effective transfer learning when the number of labeled depth images was insufficient. The fingerspelling representation of a depth image can be effectively transferred from large- to small-scale datasets via highlighting the finger regions and building inter-finger relations, thereby reducing the requirement for expensive fingerspelling annotations. Full article
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20 pages, 13605 KiB  
Article
Gesture Recognition of Sign Language Alphabet Using a Magnetic Positioning System
by Matteo Rinalduzzi, Alessio De Angelis, Francesco Santoni, Emanuele Buchicchio, Antonio Moschitta, Paolo Carbone, Paolo Bellitti and Mauro Serpelloni
Appl. Sci. 2021, 11(12), 5594; https://doi.org/10.3390/app11125594 - 17 Jun 2021
Cited by 25 | Viewed by 6120
Abstract
Hand gesture recognition is a crucial task for the automated translation of sign language, which enables communication for the deaf. This work proposes the usage of a magnetic positioning system for recognizing the static gestures associated with the sign language alphabet. In particular, [...] Read more.
Hand gesture recognition is a crucial task for the automated translation of sign language, which enables communication for the deaf. This work proposes the usage of a magnetic positioning system for recognizing the static gestures associated with the sign language alphabet. In particular, a magnetic positioning system, which is comprised of several wearable transmitting nodes, measures the 3D position and orientation of the fingers within an operating volume of about 30 × 30 × 30 cm, where receiving nodes are placed at known positions. Measured position data are then processed by a machine learning classification algorithm. The proposed system and classification method are validated by experimental tests. Results show that the proposed approach has good generalization properties and provides a classification accuracy of approximately 97% on 24 alphabet letters. Thus, the feasibility of the proposed gesture recognition system for the task of automated translation of the sign language alphabet for fingerspelling is proven. Full article
(This article belongs to the Special Issue Advanced Sensors and Sensing Technologies for Indoor Localization)
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19 pages, 9107 KiB  
Article
Multi-Stroke Thai Finger-Spelling Sign Language Recognition System with Deep Learning
by Thongpan Pariwat and Pusadee Seresangtakul
Symmetry 2021, 13(2), 262; https://doi.org/10.3390/sym13020262 - 4 Feb 2021
Cited by 19 | Viewed by 5877
Abstract
Sign language is a type of language for the hearing impaired that people in the general public commonly do not understand. A sign language recognition system, therefore, represents an intermediary between the two sides. As a communication tool, a multi-stroke Thai finger-spelling sign [...] Read more.
Sign language is a type of language for the hearing impaired that people in the general public commonly do not understand. A sign language recognition system, therefore, represents an intermediary between the two sides. As a communication tool, a multi-stroke Thai finger-spelling sign language (TFSL) recognition system featuring deep learning was developed in this study. This research uses a vision-based technique on a complex background with semantic segmentation performed with dilated convolution for hand segmentation, hand strokes separated using optical flow, and learning feature and classification done with convolution neural network (CNN). We then compared the five CNN structures that define the formats. The first format was used to set the number of filters to 64 and the size of the filter to 3 × 3 with 7 layers; the second format used 128 filters, each filter 3 × 3 in size with 7 layers; the third format used the number of filters in ascending order with 7 layers, all of which had an equal 3 × 3 filter size; the fourth format determined the number of filters in ascending order and the size of the filter based on a small size with 7 layers; the final format was a structure based on AlexNet. As a result, the average accuracy was 88.83%, 87.97%, 89.91%, 90.43%, and 92.03%, respectively. We implemented the CNN structure based on AlexNet to create models for multi-stroke TFSL recognition systems. The experiment was performed using an isolated video of 42 Thai alphabets, which are divided into three categories consisting of one stroke, two strokes, and three strokes. The results presented an 88.00% average accuracy for one stroke, 85.42% for two strokes, and 75.00% for three strokes. Full article
(This article belongs to the Special Issue Symmetry in Computer Vision and Its Applications)
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22 pages, 5464 KiB  
Article
Compact Spatial Pyramid Pooling Deep Convolutional Neural Network Based Hand Gestures Decoder
by Akm Ashiquzzaman, Hyunmin Lee, Kwangki Kim, Hye-Young Kim, Jaehyung Park and Jinsul Kim
Appl. Sci. 2020, 10(21), 7898; https://doi.org/10.3390/app10217898 - 7 Nov 2020
Cited by 20 | Viewed by 3430
Abstract
Current deep learning convolutional neural network (DCNN) -based hand gesture detectors with acute precision demand incredibly high-performance computing power. Although DCNN-based detectors are capable of accurate classification, the sheer computing power needed for this form of classification makes it very difficult to run [...] Read more.
Current deep learning convolutional neural network (DCNN) -based hand gesture detectors with acute precision demand incredibly high-performance computing power. Although DCNN-based detectors are capable of accurate classification, the sheer computing power needed for this form of classification makes it very difficult to run with lower computational power in remote environments. Moreover, classical DCNN architectures have a fixed number of input dimensions, which forces preprocessing, thus making it impractical for real-world applications. In this research, a practical DCNN with an optimized architecture is proposed with DCNN filter/node pruning, and spatial pyramid pooling (SPP) is introduced in order to make the model input dimension-invariant. This compact SPP-DCNN module uses 65% fewer parameters than traditional classifiers and operates almost 3× faster than classical models. Moreover, the new improved proposed algorithm, which decodes gestures or sign language finger-spelling from videos, gave a benchmark highest accuracy with the fastest processing speed. This proposed method paves the way for various practical and applied hand gesture input-based human-computer interaction (HCI) applications. Full article
(This article belongs to the Collection Advances in Automation and Robotics)
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