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;
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 are moving;
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 the 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, wherein the predetermined initialization gesture comprises a finger oscillating from side to side within a predetermined gesture range; and
commence tracking the human hand as part of a gesture based interactive session.
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Abstract
Systems and methods for initializing motion tracking of human hands are disclosed. One embodiment includes a processor; a reference camera; and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a base template. The hand tracking application configures the processor to: determine whether any pixels in a frame of video are part of a human hand, 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; track the motion of the part of the human hand visible in a sequence of frames of video; confirm that the tracked motion corresponds to an initialization gesture; and commence tracking the human hand as part of a gesture based interactive session.
277 Citations
55 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; 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 are moving; 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 the 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, wherein the predetermined initialization gesture comprises a finger oscillating from side to side within a predetermined gesture range; and commence tracking the human hand as part of a gesture based interactive session. - 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, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53)
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54. 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 the 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; and commence tracking the human hand as part of a gesture based interactive session.
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55. A method of commencing tracking of a human hand using a real-time gesture based interactive system, 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 using 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 using 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 the motion of the part of the human hand visible in the sequence of frames of video data using the processor configured using 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 using the hand tracking application, wherein the predetermined initialization gesture comprises a finger oscillating from side to side within a predetermined gesture range; and commence tracking the human hand as part of a gesture based interactive session using the processor configured using the hand tracking application.
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Specification