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The correct title of this article is handLocalization. The initial letter is shown capitalized due to technical restrictions.

Author: Lorenzo Natale and Francesco Nori

It computes the location of the hand in the image plane. Monocular, we need two instances one for each eye.

This modules is not implemented in iCub this description is taken from the module implemented in James.

Back to iCub YARP module specifications

Compiler & Linker Dependencies


Include files



YARP libs

Run-time Dependencies

Module arguments

 --camera right/left   // specify which camera we are willing to read images from 
                       // (this just changes the name of the port, connection will be done outside)

Ports accessed

Ports that are assumed to exist prior to instantiation of the module (i.e. some other module must create them)


Ports created

Ports that are instantiated by the module and are then available for other modules to use (using yarp connect)




Input data files


Output data files


Configuration files


User interface mechanism

Run-time modification of module parameters None

OS on which the module was developed


OS on which the module was tested

Windows, Linux

Operating system dependencies


Example instantiation of the module

Run & port connection commands ???

iCub Capabilities

iCub capability code

C3   Learn to reach towards a fixation point 
C7   Learning by demonstration (crawling and constrained reaching)
C8   Exploratory, curiousity-driven, action
C14  Move the hand(s) towards the centre of the visual field
C30: ability to localize the hand this can be either innate or acquired (probably the latter)

Other Yarp modules required to effect this capability


Example instantiation


Back to iCub YARP module specifications