Systems and methods for initializing motion tracking of human hands
First Claim
1. A real-time gesture based interactive system, comprising:
- a processor;
a reference camera configured to capture sequences of frames of video data, where each frame of video data comprises intensity information for a plurality of pixels;
memory containing;
a hand tracking application; and
a set of edge feature templates comprising a plurality of edge feature templates that are rotated and scaled versions of a base template; and
wherein the hand tracking application configures the processor to;
obtain a sequence of frames of video data from the reference camera;
compare successive frames of video data from the sequence of frames of video data for pixels that change from one frame to the next;
determine whether any of the pixels that changed are part of a human hand visible in the sequence of frames of video data by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; and
track a motion of the part of the human hand visible in the sequence of frames of video data;
confirm that the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponds to a predetermined initialization gesture;
define a 3D interaction zone relative to the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponding to the predetermined initialization gesture, where the 3D interaction zone corresponds to a bounded region that is less than the frame of video and that contains the part of the human hand visible in the sequence of frames of video data; and
commence tracking the human hand within the 3D interaction zone as part of a gesture based interactive session by performing a search restricted to the bounded region corresponding to the 3D interaction zone in a sequence of frames of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates.
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Abstract
Systems and methods for initializing motion tracking of human hands within bounded regions are disclosed. One embodiment includes: a processor; reference and alternate view cameras; and memory containing a plurality of templates that are rotated and scaled versions of a base template. In addition, a hand tracking application configures the processor to: obtain reference and alternate view frames of video data; generate a depth map; identify at least one bounded region within the reference frame of video data containing pixels having distances from the reference camera that are within a specific range of distances; determine whether any of the pixels within the at least one bounded region are part of a human hand; track the motion of the part of the human hand in a sequence of frames of video data obtained from the reference camera; and confirm that the tracked motion corresponds to a predetermined initialization gesture.
174 Citations
30 Claims
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1. A real-time gesture based interactive system, comprising:
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a processor; a reference camera configured to capture sequences of frames of video data, where each frame of video data comprises intensity information for a plurality of pixels; memory containing; a hand tracking application; and a set of edge feature templates comprising a plurality of edge feature templates that are rotated and scaled versions of a base template; and wherein the hand tracking application configures the processor to; obtain a sequence of frames of video data from the reference camera; compare successive frames of video data from the sequence of frames of video data for pixels that change from one frame to the next; determine whether any of the pixels that changed are part of a human hand visible in the sequence of frames of video data by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; and track a motion of the part of the human hand visible in the sequence of frames of video data; confirm that the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponds to a predetermined initialization gesture; define a 3D interaction zone relative to the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponding to the predetermined initialization gesture, where the 3D interaction zone corresponds to a bounded region that is less than the frame of video and that contains the part of the human hand visible in the sequence of frames of video data; and commence tracking the human hand within the 3D interaction zone as part of a gesture based interactive session by performing a search restricted to the bounded region corresponding to the 3D interaction zone in a sequence of frames of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 29)
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26. A real-time gesture based interactive system, comprising:
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a processor; a reference camera configured to capture sequences of frames of video data, where each frame of video data comprises color information for a plurality of pixels; memory containing; a hand tracking application; and a set of edge feature templates comprising a plurality of edge feature templates that are rotated and scaled versions of a base template; wherein the hand tracking application configures the processor to; obtain a sequence of frames of video data from the reference camera using initial image capture settings; compare successive frames of video data from the sequence of frames of video data for pixels that change from one frame to the next; determine whether any of the pixels that changed are part of a human hand visible in the sequence of frames of video data, where a part of a human hand is identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; and track a motion of the part of the human hand visible in the sequence of frames of video data; confirm that the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponds to a predetermined initialization gesture, where the predetermined initialization gesture comprises a finger oscillating from side to side within a predetermined gesture range; initialize the image capture settings of the reference camera used during the gesture based interactive session by adjusting the exposure and gain of the reference camera as additional frames of video data are captured by the reference camera so that the brightness of at least one pixel that is part of a human hand visible in the additional frames of video data satisfies a predetermined criterion; define a 3D interaction zone relative to the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponding to the predetermined initialization gesture, where the 3D interaction zone corresponds to a bounded region that is less than the frame of video and that contains the part of the human hand visible in the sequence of frames of video data; and commence tracking the human hand within the 3D interaction zone as part of a gesture based interactive session performing a search restricted to the bounded region corresponding to the 3D interaction zone in a sequence of frames of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates. - View Dependent Claims (30)
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27. A method of commencing tracking of a human hand using a real-time gesture based interactive system and a set of edge feature templates comprising a plurality of edge feature templates that are rotated and scaled versions of a base template, the method comprising:
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obtaining a sequence of frames of video data from the reference camera; comparing successive frames of video data from the sequence of frames of video data for pixels that change from one frame to the next using a processor configured by a hand tracking application; determining whether any of the pixels that changed are part of a human hand visible in the sequence of frames of video data using the processor configured by the hand tracking application, where a part of a human hand is identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; and tracking a motion of the part of the human hand visible in the sequence of frames of video data using the processor configured by the hand tracking application; confirming that the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponds to a predetermined initialization gesture using the processor configured by the hand tracking application; defining a 3D interaction zone relative to the tracked motion of the part of the human hand visible in the sequence of frames of video data corresponding to the predetermined initialization gesture using the processor configured by the hand tracking application, where the 3D interaction zone corresponds to a bounded region that is less than the frame of video and that contains the part of the human hand visible in the sequence of frames of video data; and commence tracking the human hand within the 3D interaction zone as part of a gesture based interactive session by performing a search of the bounded region corresponding to the 3D interaction zone in a sequence of frames of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates using the processor configured by the hand tracking application. - View Dependent Claims (28)
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Specification