Pointing finger detection
First Claim
Patent Images
1. A system comprising:
- one or more processors;
one or more cameras to obtain one or more images of an environment, the environment including one or more objects;
one or more computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising;
determining a contour of a surface of an object of the one or more objects based, at least in part, on data obtained from the one or more images;
generating a curvature map for the contour according to a first function that expresses the contour in terms of changes in direction along the contour;
generating a distance map for the contour according to a second function that expresses an absolute value of a distance between respective points along the contour;
identifying a plurality of peak points of the contour based at least in part on the curvature map and the distance map, each of the plurality of peak points indicating a portion of the contour where curvature of the contour is at a local maximum and distance between adjacent points of the contour is at a local minimum;
selecting a peak point of the plurality of peak points, the peak point being associated with the contour;
determining a sub-contour of the contour by identifying a portion of the contour that includes the peak point;
determining that the sub-contour includes a palm segment;
determining that the sub-contour includes a pointing finger segment; and
determining that the particular contour includes a hand with a pointing finger at least partly in response to determining that the sub-contour includes the palm segment and the pointing finger segment.
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Abstract
A number of images of an environment may be obtained over time by a number of sensors. The data obtained by the sensors may be used to generate contours of objects in the environment. In some cases, hands with pointing fingers in the environment may be identified based on the contours of the objects in the environment. In particular, contours having a palm segment and a pointing finger segment may be identified as hands with pointing fingers. In an implementation, 1-dimensional curvature and distance information may be used to identify contours having a palm segment and a pointing finger segment.
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Citations
15 Claims
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1. A system comprising:
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one or more processors; one or more cameras to obtain one or more images of an environment, the environment including one or more objects; one or more computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising; determining a contour of a surface of an object of the one or more objects based, at least in part, on data obtained from the one or more images; generating a curvature map for the contour according to a first function that expresses the contour in terms of changes in direction along the contour; generating a distance map for the contour according to a second function that expresses an absolute value of a distance between respective points along the contour; identifying a plurality of peak points of the contour based at least in part on the curvature map and the distance map, each of the plurality of peak points indicating a portion of the contour where curvature of the contour is at a local maximum and distance between adjacent points of the contour is at a local minimum; selecting a peak point of the plurality of peak points, the peak point being associated with the contour; determining a sub-contour of the contour by identifying a portion of the contour that includes the peak point; determining that the sub-contour includes a palm segment; determining that the sub-contour includes a pointing finger segment; and determining that the particular contour includes a hand with a pointing finger at least partly in response to determining that the sub-contour includes the palm segment and the pointing finger segment. - View Dependent Claims (2, 3, 4)
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5. A method comprising:
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obtaining, by one or more sensors of a computing device, one or more images of an environment; determining a contour of a surface in the environment based, at least in part, on the one or more images; determining that the contour represents a palm segment and a pointing finger segment based, at least in part, on an absolute value of one or more distances between respective points along the contour, wherein determining that the contour represents a palm segment and a pointing finger segment includes; identifying a peak point of the contour; identifying a sub-contour of the contour within a region defined, at least in part, by the peak point; defining a geometric shape within the sub-contour, wherein the geometric shape has features that satisfy a first criteria; determining that the sub-contour includes the palm segment when a dimension of the geometric shape satisfies a second criteria; determining a distance between the peak point and a point of the geometric shape; and determining that the sub-contour includes the pointing finger segment when the distance satisfies an additional criteria, wherein the additional criteria includes the distance being within a predetermined range of values for a distance between a tip of an extended index finger and a center of a palm of an average or median adult human hand; and determining that the contour represents a hand with a pointing finger based, at least in part, on the contour representing the palm segment and the pointing finger segment. - View Dependent Claims (6, 7, 8)
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9. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
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selecting a first contour of a plurality of contours determined from one or more images of an environment; determining that the first contour does not represent a hand with a pointing finger; selecting a second contour of the plurality of contours; generating a curvature map comprising 1-dimensional (1D) curvature information contour according to a first function that expresses the second contour in terms of changes in direction along the second contour; generating a distance map comprising 1D distance information according to a second function that expresses an absolute value of a distance between respective points along the second contour; identifying a palm segment and a pointing finger segment within a portion of the second contour based at least in part on the absolute value of the distance; and determining that the second contour represents the hand with the pointing finger. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification