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. 2013 May 14;13(5):6380-93.
doi: 10.3390/s130506380.

Analysis of the accuracy and robustness of the leap motion controller

Frank Weichert  1 , Daniel Bachmann, Bartholomäus Rudak, Denis Fisseler
Affiliations

Analysis of the accuracy and robustness of the leap motion controller

Frank Weichert et al. Sensors (Basel). .

Abstract

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

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Figures

Figure 1.
Figure 1.
Visualization of a (a) Real (using Infrared Imaging) and (b) Schematic View of Leap Motion Controller.
Figure 2.
Figure 2.
Visualization of the Robot Cell Consisting of the Leap Motion Controller, an Industrial Robot (Kuka Robot KR 125/3) with a Reference Pen: (a) Front View and (b) Schematic View with a Coordinate System.
Figure 3.
Figure 3.
Visualization of the Basic Test Cases: (a) Positions in the xy-, xz- and yz-Plane and (b) Positions on a Sinus Function Within the xy-Plane.
Figure 4.
Figure 4.
Analysis of the Accuracy and the Repeatability: Deviation between a desired 3D Position and the Measured Positions for a Static Position, (a) xy-Variation; (b) xz-Variation; (c) yz-Variation.
Figure 5.
Figure 5.
Box-and-whisker Plots for different Tool Diameters: d = 3 mm, d = 4 mm, d = 5 mm, d = 6 mm, d = 8 mm, d = 10 mm of the average Deviation concerning (a) x-; (b) y- and (c) z-Axis.
Figure 6.
Figure 6.
Long Time Measurement: Change of (a) x-, (b) y- and (c) z-Coordinate over Time.
Figure 7.
Figure 7.
Analysis of Accuracy: Deviation between a Desired 3D Position and the Median of the Measured Positions, (a) xy-Plane; (b) xz-Plane; (c) yz-Plane.
Figure 8.
Figure 8.
Analysis of Accuracy of the Measured Positions. The fixed Orientations are marked in red. (a) xy-Plane; (b) xz-Plane; (c) yz-Plane.
Figure 9.
Figure 9.
Analysis of Accuracy as Bland-Altman Plots for the three axis-aligned movements of the Test Bar of the Robot for a measuring range from −100 mm to 100 mm. (a) x-axis; (b) y-axis; (c) z-axis.
Figure 10.
Figure 10.
Analysis of Accuracy as Bland-Altman Plots for a Sinus Shaped Motion of the Test Bar of the Robot for a measuring range from − 25 mm to 25 mm. (a) x-Deviation; (b) y-Deviation; (c) z-Deviation.
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