Systems and methods for tracking human hands using parts based template matching
First Claim
1. A system for detecting hand posture using parts based template matching to detect individual human fingers, comprising:
- 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 plurality of edge feature templates wherein each of the plurality of edge feature templates is a rotated and scaled version of a finger template;
wherein the hand tracking application configures the processor to;
obtain a frame of video data from the reference camera;
detect at least one candidate finger in the frame of video data received from the reference camera, where each of the at least one candidate finger is a grouping of pixels identified by searching the frame of video data (I) for a grouping of pixels that have image gradient orientations that match a given edge feature template () from the plurality of edge feature templates by determining whether the similarity of a number of gradient orientations extracted from the given edge feature template at a list P of locations r to be considered from edge features () in the given edge feature template and image gradient orientations extracted from the frame of video data relative to a pixel location c exceed a predetermined matching threshold using the following similarity measure;
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Abstract
Systems and methods for tracking human hands using parts based template matching are described. One embodiment of the invention includes a processor, a reference camera and memory containing: a hand tracking application; and a finger template including an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a frame of video data received from the reference camera, where each candidate finger is a grouping of pixels identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of the finger template accounting for rotation and scaling differences; and verify the correct detection of a candidate finger by confirming that the colors of the pixels within the grouping of pixels identified as a candidate finger satisfy a skin color criterion.
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Citations
36 Claims
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1. A system for detecting hand posture using parts based template matching to detect individual human fingers, 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 plurality of edge feature templates wherein each of the plurality of edge feature templates is a rotated and scaled version of a finger template; wherein the hand tracking application configures the processor to; obtain a frame of video data from the reference camera; detect at least one candidate finger in the frame of video data received from the reference camera, where each of the at least one candidate finger is a grouping of pixels identified by searching the frame of video data (I) for a grouping of pixels that have image gradient orientations that match a given edge feature template () from the plurality of edge feature templates by determining whether the similarity of a number of gradient orientations extracted from the given edge feature template at a list P of locations r to be considered from edge features () in the given edge feature template and image gradient orientations extracted from the frame of video data relative to a pixel location c exceed a predetermined matching threshold using the following similarity measure; - 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)
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35. A system for detecting hand posture using parts based template matching to detect individual human fingers, 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; a display interface configured to drive a display device; memory containing; a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a finger template, which comprises; an edge features template; and a plurality of surface color pixel sample locations defined relative to the edge features template; wherein the hand tracking application configures the processor to; obtain a frame of video data from the reference camera; detect at least one candidate finger in the frame of video data received from the reference camera, where; each of the at least one candidate finger is a grouping of pixels identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match one of the plurality of edge feature templates; and searching the frame of video data for a grouping of pixels that have image gradient orientations that match a given edge feature template () from the plurality of edge feature templates comprises; selecting a grouping of pixels; searching within a predetermined neighborhood of pixels relative to each edge feature in the given edge feature template to find the image gradient orientation that is most similar to the image gradient orientation of the edge feature; and determining whether the similarity of a number of gradient orientations extracted from the given edge feature template at a list P of locations r to be considered from edge features () in the given edge feature template and image gradient orientations extracted from the frame of video data relative to a pixel location c exceed a predetermined matching threshold using the following similarity measure;
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36. A method of detecting hand posture by performing parts based template matching to detect individual human fingers, comprising:
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capturing a frame of video data using a reference camera, where the frame of video data comprises color information for a plurality of pixels; detecting at least one candidate finger in the frame of video data received from the reference camera using a processor configured using a hand tracking application, where each of the at least one candidate finger is a grouping of pixels identified by searching the frame of video data (I) for a grouping of pixels that have image gradient orientations that match a given edge feature template () from a plurality of edge feature templates by determining whether the similarity of a number of gradient orientations extracted from the given edge feature template at a list P of locations r to be considered from edge features () in the given edge feature template and image gradient orientations extracted from the frame of video data relative to a pixel location c exceed a predetermined matching threshold using the following similarity measure;
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Specification