Fast and Accurate Hand Visual Detection by Using a Spatial-Channel Attention SSD for Hand-Based Space Robot Teleoperation

Table 2

Comparison and summary of the hand detection methods.

Method	Brief methodology	Highlights	Limitations
Traditional visual hand detection methods [17]	They mainly include skin color-based hand detection, motion flow information-based hand detection, and shape model-based hand detection.	Small amount of calculation, mature technology.	These methods only extract the shallow information of hands, which are subject to many conditions.
Deep learning-based hand detection methods [18–20]	They autonomously extract deep features of hand images through deep neural networks.	High detection performance.	They are stuck with the speed and accuracy dilemma for small object detection.