Ego-Centric Vision for Hand Occupancy Detection: Toward Safer Human-Robot Interaction

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dc.contributor.advisorГорборуков, Вячеславuk_UA
dc.contributor.authorМатійчик, Тимофій uk_UA
dc.date.accessioned2026-08-07T11:54:00Z
dc.date.available2026-08-07T11:54:00Z
dc.date.issued2026
dc.description.abstractThe central subject of Human-Robot Interactions studies are robots, that are supposed to collaborate with humans, thus operate in a common humans’ workspace and understand their intents. One of the most important domains concerns in modern HRI researches is interactions safety – how robot should collaborate with humans and provide physically and socially secure interactions. Human hands occupancy in that case are one of key evidences for robots to define safe and appropriate interactions. The objective of this work is to reveal the most effective and safe solution, based on Computer Vision techniques, for hands segmentation and occupancy detection for human-robot interactions. The solution must demonstrate the best correlation of detection performance and effectiveness on robotic system’s integration that will provide the most reliable behavior in its interactions or collaboration with human. To accomplish the objective, the study explores the capabilities of 3 main approaches of hands segmentation and occupancy classification: a classical technique that relies on classical CV algorithms and heuristic estimations; the deep learning that applies deep segmentation and vision-language models; the hybrid method that combines classical segmentation and deep learning classification. These techniques are evaluated in terms of segmentation and classification performance and technical efficiency. This evaluation demonstrates both predictive capabilities and practical suitability and provides insights for defining the best approach for enhancing safety in HRI and adoption to robotic systems.en_US
dc.identifier.urihttps://ekmair.ukma.edu.ua/handle/123456789/40735
dc.language.isoen_USen_US
dc.statusfirst publisheden_US
dc.subjectHuman-Robot Interaction (HRI)en_US
dc.subjectComputer Visionen_US
dc.subjectDeep Learningen_US
dc.subjectVision-Language Models (VLM)en_US
dc.subjecthands segmentationen_US
dc.subjectbachelor`s thesisen_US
dc.titleEgo-Centric Vision for Hand Occupancy Detection: Toward Safer Human-Robot Interactionen_US
dc.title.alternativeВикористання егоцентричного відео для визначення зайнятості рук з метою підвищення безпечності взаємодії людини й роботаuk_UA
dc.typeOtheren_US
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